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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 1,547,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 8 months 12 days
Options outstanding, Weighted average exercise price $ 5.93
Options vested, Number Exercisable | shares | shares 617,000
Options vested, Weighted average exercise price $ 7.17
Exercise Price $2.65  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 349,000
Options outstanding, Weighted average remaining contractual term (in years) 9 years 9 months 18 days
Options outstanding, Weighted average exercise price $ 2.65
Exercise Price $2.65 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) $ 2.65
Exercise Price $3.05 - $5.95  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 36,000
Options outstanding, Weighted average remaining contractual term (in years) 9 years 4 months 24 days
Options outstanding, Weighted average exercise price $ 5.11
Options vested, Number Exercisable | shares | shares 3,000
Options vested, Weighted average exercise price $ 5.95
Exercise Price $3.05 - $5.95 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 3.05
Exercise price range (upper) $ 5.95
Exercise Price $6.04  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 421,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 8 months 12 days
Options outstanding, Weighted average exercise price $ 6.04
Options vested, Number Exercisable | shares | shares 125,000
Options vested, Weighted average exercise price $ 6.04
Exercise Price $6.04 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) $ 6.04
Exercise Price $6.07 - $7.08  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 390,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years 3 months 18 days
Options outstanding, Weighted average exercise price $ 6.94
Options vested, Number Exercisable | shares | shares 235,000
Options vested, Weighted average exercise price $ 6.97
Exercise Price $6.07 - $7.08 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 6.07
Exercise price range (upper) $ 7.08
Exercise Price $7.13 - $8.62  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Options outstanding, Number | shares 351,000
Options outstanding, Weighted average remaining contractual term (in years) 8 years
Options outstanding, Weighted average exercise price $ 8.01
Options vested, Number Exercisable | shares | shares 254,000
Options vested, Weighted average exercise price $ 7.92
Exercise Price $7.13 - $8.62 | Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Exercise price range (lower) 7.13
Exercise price range (upper) $ 8.62