Summary of Accounting Policies - Schedule of Dilutive Securities Excluded from Computation of Income (Loss) Per Share (Details) - shares	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock Options Issued And Outstanding Under Plans
Earnings Per Share [Line Items]
Anti-dilutive securities	6,963,498	1,894,845	5,816,203	1,947,260
Restricted Stock Units [Member]
Earnings Per Share [Line Items]
Anti-dilutive securities	730,419	546,908	696,696	567,203
Employee Stock Purchase Plan
Earnings Per Share [Line Items]
Anti-dilutive securities	35,878	50,250	42,020	48,448

Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482662/260-10-50-1

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