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Stock Incentive Plans - Stock options (Details) - Stock options - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Shares          
Outstanding, beginning of year (in shares)     2,253,431    
Granted (in shares)     1,657,550    
Exercised (in shares)     (78,050)    
Cancelled or forfeited (in shares)     (510,960)    
Expired (in shares)     (523)    
Outstanding, end of year (in shares) 3,321,448   3,321,448   2,253,431
Vested and exercisable (in shares) 994,708   994,708    
Vested and expected to vest (in shares) 3,321,448   3,321,448    
Weighted-Average Exercise Price          
Outstanding, beginning of year (in dollars per share)     $ 15.43    
Granted (in dollars per share)     12.62    
Exercised (in dollars per share)     5.37    
Cancelled or forfeited (in dollars per share)     16.96    
Expired (in dollars per share)     138.60    
Outstanding at end of year (in dollars per share) $ 14.01   14.01   $ 15.43
Vested and exercisable at end of year (in dollars per share) 19.38   19.38    
Vested and expected to vest at end of the year (in dollars per share) $ 14.01   $ 14.01    
Weighted Average Remaining Contractual Term (years)          
Outstanding     8 years 6 months 18 days   8 years 6 months 25 days
Vested and exercisable     7 years 7 months 17 days    
Vested and expected to vest     8 years 6 months 18 days    
Aggregate Intrinsic Value          
Outstanding $ 1,436   $ 1,436   $ 9,733
Vested and exercisable 662   662    
Vested and expected to vest 1,436   $ 1,436    
Stock Incentive Plans          
Number of options exercised (in shares)     78,050    
Intrinsic value of options exercised 100 $ 100 $ 500 $ 100  
Aggregate fair value of options vested $ 900 $ 900 $ 3,600 $ 4,700  
Weighted average grant date fair value of options granted (in dollars per share) $ 5.89 $ 2.54 $ 7.48 $ 3.66  
Unrecognized compensation expense related to unvested stock option awards $ 14,600   $ 14,600    
Weighted-average amortization period over which cost is expected to be recognized     2 years 9 months 18 days