Stock-Based Compensation - Restricted stock units activity (Details) - USD ($) $ / shares in Units, $ in Millions	1 Months Ended	12 Months Ended
Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022
Restricted stock units
Number of shares
Outstanding at beginning of period		1,059,529
Granted		1,221,725
Vested and released		(299,845)
Forfeited		(140,728)
Unvested at end of period		1,840,681	1,059,529
Weighted Average Granted Date Fair Value
Outstanding at beginning of period		$ 17.38
Granted		8.69	$ 15.21
Vested and released		17.58
Forfeited		14.82
Unvested at end of period		$ 11.77	$ 17.38
Unrecognized compensation expense		$ 15.4
Weighted average period for recognition of stock-based compensation expense		2 years 7 months 6 days
Aggregate intrinsic value of stock options exercised		$ 2.5	$ 0.9
Performance stock units
Weighted Average Granted Date Fair Value
Granted	$ 3.99
Vested and released		$ 0
Unrecognized compensation expense		$ 0.1
Weighted average period for recognition of stock-based compensation expense		2 years 1 month 6 days

Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Number of non-option equity instruments exercised by participants.

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Net number of non-option equity instruments granted to participants.

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Number of equity instruments other than options outstanding, including both vested and non-vested instruments.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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