Stock-Based Compensation - Schedule of restricted stock activity (Details) - Restricted Stock Units (RSUs)	6 Months Ended
	Jun. 30, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Awards, beginning balance (in shares) | shares	309,477
Granted (in shares) | shares	460,925
Released (in shares) | shares	(73,937)
Forfeited (in shares) | shares	(30,454)
Awards, ending balance (in shares) | shares	666,011
Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share) | $ / shares	$ 7.22
Granted (in dollars per share) | $ / shares	3.54
Released (in dollars per share) | $ / shares	7.43
Forfeited (in dollars per share) | $ / shares	4.84
Ending balance (in dollars per share) | $ / shares	$ 4.76