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Stock-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
May 31, 2021
Feb. 28, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Aggregate intrinsic value of stock options exercised     $ 1,300 $ 4,800 $ 1,800
Weighted-average grant-date fair value of stock options granted (in usd per share)     $ 4.43 $ 6.20 $ 2.10
Fair value of stock options vested     $ 3,500 $ 1,500 $ 1,000
Granted (in shares)     1,040,000    
Total stock-based compensation     $ 11,214 $ 2,839 $ 846
Weighted-average grant date fair value of restricted stock units granted (in usd per share)     $ 7.51 $ 15.32  
Vested restricted stock units converted to common shares     $ 6,700 $ 100  
Unrecognized compensation expense     28,600    
Stock options - performance conditions          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period       4 years  
Granted (in shares)       615,997  
Stock options - performance conditions | Vesting tranche one          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage       21.00%  
Stock options - performance conditions | Vesting tranche two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period       38 months  
Stock options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total stock-based compensation     $ 700 $ 700  
Unrecognized compensation expense, weighted-average period for recognition     2 years 10 months 24 days    
Employee stock purchase plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum shares that may be issued (in shares)     1,179,902    
Number of shares available for issuance, annual increase, percentage     1.00%    
Annual increase in number of shares that may be issued, term     10 years    
Number of shares available for issuance, annual increase (in shares)     400,000    
Maximum percentage of eligible compensation     15.00%    
Purchase price percentage     85.00%    
2011 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Increase in common stock available for future issuance (in shares)   2,333,333      
2011 Plan | Stock options - new employees          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period     10 years    
Vesting period 4 years        
2011 Plan | Stock options - new employees | Vesting tranche one          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage 25.00%        
2011 Plan | Stock options - new employees | Vesting tranche two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period     36 months    
2011 Plan | Stock options - current employees, outside advisors, and non-employee consultants          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period     10 years    
Vesting period     48 months    
2021 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum shares that may be issued (in shares)     4,333,333    
Maximum shares that may be issued, annual increase, period     10 years    
Number of shares available for issuance, annual increase, percentage     5.00%    
Shares available for grant (in shares)     3,151,824