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Stock Incentive Plans - Stock options (Details) - Stock options - USD ($)
3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Shares      
Outstanding, beginning of year (in shares) 2,253,431    
Granted (in shares) 474,250    
Exercised (in shares) (22,472) 0  
Cancelled or forfeited (in shares) (142,975)    
Outstanding, end of year (in shares) 2,562,234   2,253,431
Vested and exercisable (in shares) 835,970    
Vested and expected to vest (in shares) 2,562,234    
Weighted-Average Exercise Price      
Outstanding, beginning of year (in dollars per share) $ 15.43    
Granted (in dollars per share) 13.35    
Exercised (in dollars per share) 1.65    
Cancelled or forfeited (in dollars per share) 13.52    
Outstanding at end of year (in dollars per share) 15.27   $ 15.43
Vested and exercisable at end of year (in dollars per share) 23.94    
Vested and expected to vest at end of the year (in dollars per share) $ 15.27    
Weighted Average Remaining Contractual Term (years)      
Outstanding 8 years 6 months 25 days   8 years 6 months 25 days
Vested and exercisable 7 years 10 months 13 days    
Vested and expected to vest 8 years 6 months 25 days    
Aggregate Intrinsic Value      
Outstanding $ 7,370,000   $ 9,733,000
Vested and exercisable 1,468,000    
Vested and expected to vest $ 7,370,000    
Stock Incentive Plans      
Number of options exercised (in shares) 22,472 0  
Intrinsic value of options exercised $ 300,000    
Aggregate fair value of options vested $ 1,500,000 $ 600,000  
Weighted average grant date fair value of options granted (in dollars per share) $ 8.49 $ 4.05  
Unrecognized compensation expense related to unvested stock option awards $ 11,200,000    
Weighted-average amortization period over which cost is expected to be recognized 2 years 7 months 6 days