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Share-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Nov. 12, 2021
$ / shares
shares
Dec. 31, 2022
USD ($)
participant
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
$ / shares
shares
Nov. 06, 2020
shares
Jan. 02, 2019
shares
Share-based Compensation Arrangement by Share-based Payment Award              
Common stock issued for options exercised     $ 126 $ 858      
Series A Convertible Preferred Stock              
Share-based Compensation Arrangement by Share-based Payment Award              
Option to conversion outstanding ratio 0.1            
Stock options              
Share-based Compensation Arrangement by Share-based Payment Award              
Term of award (in years)     10 years        
Maximum total number of common shares for which Stock Options may be granted | shares           15,640,000 13,640,000
Number of shares outstanding (in shares) | shares 11,850 8,049,474 8,525,262 8,049,474 6,921,180    
Share options exchanged (in shares) | shares 6,925,219            
Compensation costs recognized     $ 10,342 $ 11,602      
Unrecognized compensation cost     $ 10,591        
Unrecognized compensation cost expected to be recognized over a weighted average period (in years)     2 years 5 months 1 day        
Common stock issued for options exercised     $ 126        
Tax benefit from stock options exercised     132        
Total fair value of common shares vested     $ 3,942 2,951      
Stock options | 2021 Plan              
Share-based Compensation Arrangement by Share-based Payment Award              
Maximum total number of common shares for which Stock Options may be granted | shares     6,008,329        
Stock options | Share-based Payment Arrangement, Tranche One              
Share-based Compensation Arrangement by Share-based Payment Award              
Percentage of stock options     25.00%        
Stock options | Share-based Payment Arrangement, Tranche Two              
Share-based Compensation Arrangement by Share-based Payment Award              
Percentage of stock options     75.00%        
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award              
Share options exchanged (in shares) | shares 1,291,492            
Compensation costs recognized     $ 872 $ 618      
Number of shares outstanding (in shares) | shares   147,470 0 147,470 0    
Weighted-average grant date fair value (in dollars per share) | $ / shares     $ 0.83 $ 5.74      
Award requisite service period (in years)     1 year        
Shares granted, trailing closing price per share preceding grant date, period     5 days        
Number of participants | participant   21          
Medical RSUs, incremental share-based compensation expense   $ 187          
Medical RSUs, after forfeitures share-based compensation expense   (11)          
Fair value of the liability-classified medical RSU outstanding   $ 264   $ 264      
Equity-classified medical RSUs, weighted-average grant-date fair value (in dollars per share) | $ / shares     $ 3.56 $ 3.56      
Vested (in shares) | shares     (971,758) 0      
RSUs | Share-based Payment Arrangement, Tranche One              
Share-based Compensation Arrangement by Share-based Payment Award              
Percentage of stock options     16.67%        
RSUs | Share-based Payment Arrangement, Tranche Two              
Share-based Compensation Arrangement by Share-based Payment Award              
Percentage of stock options     83.33%        
Restricted Stock Awards              
Share-based Compensation Arrangement by Share-based Payment Award              
Compensation costs recognized     $ 5,959 $ 8,284      
Number of shares outstanding (in shares) | shares 2,210            
Restricted Stock Units and Restricted Stock Awards              
Share-based Compensation Arrangement by Share-based Payment Award              
Unrecognized compensation cost expected to be recognized over a weighted average period (in years)     2 years        
Number of shares outstanding (in shares) | shares   2,106,540 2,176,422 2,106,540 1,291,492    
Weighted-average grant date fair value (in dollars per share) | $ / shares     $ 0.83 $ 5.74      
Unrecognized compensation expense     $ 7,620        
Weighted average grant date fair value (in dollars per share) | $ / shares   $ 7.25 $ 3.50 $ 7.25 $ 10.98    
Vested (in shares) | shares     (1,501,805) (760,973)      
Employees Earnout Shares              
Share-based Compensation Arrangement by Share-based Payment Award              
Compensation costs recognized     $ 375 $ 7,911      
Unrecognized compensation cost expected to be recognized over a weighted average period (in years)     3 months 14 days        
Number of shares outstanding (in shares) | shares   1,417,632 1,401,064 1,417,632 1,602,435    
Unrecognized compensation expense     $ 87        
Vested (in shares) | shares     0        
Employees Earnout Shares | Share-based Payment Arrangement, Tranche One              
Share-based Compensation Arrangement by Share-based Payment Award              
Weighted average grant date fair value (in dollars per share) | $ / shares $ 8.35            
Employees Earnout Shares | Share-based Payment Arrangement, Tranche Two              
Share-based Compensation Arrangement by Share-based Payment Award              
Weighted average grant date fair value (in dollars per share) | $ / shares $ 6.76