Stock-based Compensation - Summary of Nonvested Stock Options (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares
Number of shares outstanding (in shares)	1,411,331	2,033,036	1,148,301
Granted (in shares)	315,881	262,097	1,449,779
Vested (in shares)	(314,462)	(506,299)	(496,464)
Forfeited (in shares)	(321,682)	(377,503)	(68,580)
Number of shares outstanding (in shares)	1,091,068	1,411,331	2,033,036
Weighted Average Grant Date Fair Value
Weighted average grant date fair value, outstanding (in usd per share)	$ 4.77	$ 3.49	$ 0.95
Granted (in usd per share)	7.30	6.90	4.49
Vested (in usd per share)	4.17	1.23	0.08
Forfeited (in usd per share)	4.86	4.08	1.32
Weighted average grant date fair value, outstanding (in usd per share)	$ 5.65	$ 4.77	$ 3.49