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Stock-Based Compensation - Summary of Stock Options Outstanding And Vested (Details)
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 1,202,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 8 months 12 days
Options outstanding, Weighted average exercise price $ 6.91
Options vested, Number Exercisable | shares 431,000
Options vested, Weighted average exercise price $ 7.49
Exercise Price $4.86 - $5.95  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 27,000
Options outstanding, Weighted average remaining contractual term (in years) 9 years 6 months
Options outstanding, Weighted average exercise price $ 5.75
Exercise Price $4.86 - $5.95 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 4.86
Exercise price range (upper) $ 5.95
Exercise Price $6.04 - $6.04  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 428,000
Options outstanding, Weighted average remaining contractual term (in years) 9 years
Options outstanding, Weighted average exercise price $ 6.04
Exercise Price $6.04 - $6.04 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 6.04
Exercise price range (upper) $ 6.04
Exercise Price $6.07 - $7.00  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 305,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 8 months 12 days
Options outstanding, Weighted average exercise price $ 6.90
Options vested, Number Exercisable | shares 137,000
Options vested, Weighted average exercise price $ 6.94
Exercise Price $6.07 - $7.00 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 6.07
Exercise price range (upper) $ 7.00
Exercise Price $7.08 - $8.27  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 369,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 2 months 12 days
Options outstanding, Weighted average exercise price $ 7.68
Options vested, Number Exercisable | shares 253,000
Options vested, Weighted average exercise price $ 7.61
Exercise Price $7.08 - $8.27 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 7.08
Exercise price range (upper) $ 8.27
Exercise Price $8.40 - $8.62  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 73,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 3 months 18 days
Options outstanding, Weighted average exercise price $ 8.61
Options vested, Number Exercisable | shares 41,000
Options vested, Weighted average exercise price $ 8.61
Exercise Price $8.40 - $8.62 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 8.40
Exercise price range (upper) $ 8.62