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Stock-Based Compensation - Summary of Restricted Stock Activity (Details) - Restricted Stock
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Restricted Stock Awards | shares 493,914
Number of Restricted Stock Awards, Released | shares (186,727)
Number of Restricted Stock Awards, Forfeited | shares (14,951)
Number of Restricted Stock Awards | shares 292,236
Weighted-Average Grant Date Fair Value, Beginning Balance | $ / shares $ 4.02
Weighted-Average Grant Date Fair Value, Released | $ / shares 4.02
Weighted-Average Grant Date Fair Value, Forfeited | $ / shares 3.96
Weighted-Average Grant Date Fair Value, Ending Balance | $ / shares $ 4.04