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Stock Incentive Plans - Stock option activity (Details) - Employee Stock Option - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Shares    
Outstanding, beginning of year (in shares) 2,253,431  
Granted (in shares) 1,906,050  
Exercised (in shares) (78,050)  
Cancelled or forfeited (in shares) (526,939)  
Expired (in shares) (523)  
Outstanding, end of year (in shares) 3,553,969 2,253,431
Vested and exercisable (in shares) 1,107,936  
Vested and expected to vest (in shares) 3,553,969  
Weighted-Average Exercise Price    
Outstanding, beginning of year (in dollars per share) $ 15.43  
Granted (in dollars per share) 12.01  
Exercised (in dollars per share) 5.37  
Cancelled or forfeited (in dollars per share) 16.80  
Expired (in dollars per share) 138.60  
Outstanding at end of year (in dollars per share) 13.59 $ 15.43
Vested and exercisable at end of year (in dollars per share) 18.62  
Vested and expected to vest at end of the year (in dollars per share) $ 13.59  
Weighted Average Remaining Contractual Term (years)    
Outstanding 8 years 4 months 20 days 8 years 6 months 25 days
Vested and exercisable 7 years 5 months 1 day  
Vested and expected to vest 8 years 4 months 20 days  
Aggregate Intrinsic Value    
Outstanding $ 1,912 $ 9,733
Vested and exercisable 821  
Vested and expected to vest 1,912  
Additional disclosures    
Intrinsic value of options exercised 500 200
Aggregate fair value of options vested $ 4,400 $ 5,600
Weighted average grant date fair value of options granted (in dollars per share) $ 7.20 $ 3.82
Unrecognized compensation expense related to unvested stock option awards $ 13,800  
Weighted-average amortization period over which cost is expected to be recognized 2 years 6 months