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Stock-Based Compensation - Narratives (Details 3) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise Price (in dollars per share) $ 11.27 $ 12.30  
Non-cash stock-based compensation expense $ 4,433 $ 2,311 $ 16,631
Stock Options Exercised (in shares) 0    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period   5 years  
Award Expiration Period 10 years    
Non-cash stock-based compensation expense $ 800 $ 600 5,900
Cost Not yet Recognized for Stock Options $ 1,800    
Cost Not yet Recognized, Period for Recognition 2 years 8 months 12 days    
Fair Value of Stock Options Vested $ 700 $ 300 $ 6,600
Stock Options Exercised (in shares) 0 25,000 39,700
Cash Received from Stock Options Exercised   $ 200 $ 400
Stock Options | Tranche One      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award Vesting Rights, Percentage 33.00% 20.00%  
Stock Options | Tranche Two      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award Vesting Rights, Percentage 33.00% 20.00%  
Stock Options | Tranche Three      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award Vesting Rights, Percentage 34.00% 20.00%  
Stock Options | Tranche Four      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award Vesting Rights, Percentage   20.00%  
Stock Options | Tranche Five      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award Vesting Rights, Percentage   20.00%  
Stock Options | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise Price (in dollars per share) $ 4.83    
Stock Options | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Exercise Price (in dollars per share) $ 20.00