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Stock-Based Compensation - Summary of Options and Awards Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Stock-based compensation    
Options and Awards Available for Grant, Outstanding, Beginning balance 1,038,956  
Options and Awards Available for Grant, Options authorized 595,753  
Options and Awards Available for Grant, RSUs granted (620,218)  
Options Available for Grant, RSUs cancelled/forfeited 25,312  
Options and Awards Available for Grant, Options granted (489,244)  
Options and Awards Available for Grant, Options cancelled/forfeited 138,913  
Options and Awards Available for Grant, Outstanding, Ending balance 689,472 1,038,956
Number of Options, Outstanding, Beginning balance 1,783,298  
Number of Options, Options granted 489,244  
Number of Options, Options exercised (116,040)  
Number of Options, Options cancelled/forfeited (161,776)  
Number of Options, Outstanding, Ending balance 1,994,726 1,783,298
Number of Options, exercisable 919,508  
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance $ 5.21  
Weighted - Average Exercise Price Per Share, Options granted 8.17  
Weighted - Average Exercise Price Per Share, Options exercised 4.71  
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited 6.18  
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance 5.88 $ 5.21
Weighted - Average Exercise Price Per Share, Options exercisable $ 5.38  
Weighted - Average Remaining Contractual Life, Options outstanding 7 years 9 months 18 days 8 years
Weighted - Average Remaining Contractual Life, Options exercisable 6 years 10 months 24 days  
Aggregate Intrinsic Value, Options outstanding $ 1,275 $ 10,891
Aggregate Intrinsic Value, Options exercised 333  
Aggregate Intrinsic Value, Options exercisable $ 809