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Stock-based Compensation - Schedule of Vested Stock Options (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares      
Number of shares outstanding (in shares) 1,556,486 2,249,611 1,228,399
Granted (in shares) 315,881 262,097 1,449,779
Exercised (in shares) (136,998) (577,719) (359,987)
Forfeited/expired (in shares) (436,960) (377,503) (68,580)
Number of shares outstanding (in shares) 1,298,409 1,556,486 2,249,611
Weighted Average Grant Date Fair Value      
Weighted average grant date fair value, outstanding (in usd per share) $ 4.51 $ 3.25 $ 0.96
Granted (in usd per share) 7.30 6.90 4.49
Exercised (in usd per share) 2.20 0.96 0.69
Forfeited/expired (in usd per share) 4.79 4.08 1.32
Weighted average grant date fair value, outstanding (in usd per share) 7.25 4.51 3.25
Weighted Average Exercise Price      
Weighted average exercise price, outstanding (in usd per share) 10.47 8.32 2.91
Granted (in usd per share) 12.09 11.75 11.20
Exercised (in usd per share) 5.93 2.95 2.33
Forfeited/expired (in usd per share) 10.97 10.03 3.85
Weighted average exercise price, outstanding (in usd per share) $ 11.18 $ 10.47 $ 8.32