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Stock-Based Compensation - Summary of Options and Awards Activity (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended 15 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Sep. 30, 2023
USD ($)
$ / shares
shares
Stock-based compensation      
Options and Awards Available for Grant, Outstanding, Beginning balance 689,472    
Options and Awards Available for Grant, Options authorized 611,228    
Options and Awards Available for Grant, RSUs granted (705,379)    
Options Available for Grant, RSUs cancelled/forfeited 4,461    
Warrants exercised (236)    
Options and Awards Available for Grant, Options granted (8,000)    
Options and Awards Available for Grant, Options cancelled/forfeited 7,857    
Options and Awards Available for Grant, Outstanding, Ending balance 599,403 689,472 599,403
Number of Options, Outstanding, Beginning balance 1,994,726    
Number of Options, Options granted 8,000   0
Number of Options, Options exercised (143,070)    
Number of Options, Options cancelled/forfeited (7,857)    
Number of Options, Outstanding, Ending balance 1,851,799 1,994,726 1,851,799
Number of Options, exercisable 1,208,065   1,208,065
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance | $ / shares $ 5.88    
Weighted - Average Exercise Price Per Share, Options granted | $ / shares 6.47    
Weighted - Average Exercise Price Per Share, Options exercised | $ / shares 5.08    
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited | $ / shares 6.80    
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance | $ / shares 5.94 $ 5.88 $ 5.94
Weighted - Average Exercise Price Per Share, Options exercisable | $ / shares $ 5.67   $ 5.67
Weighted - Average Remaining Contractual Life, Options outstanding 7 years 2 months 12 days 7 years 9 months 18 days  
Weighted - Average Remaining Contractual Life, Options exercisable 6 years 8 months 12 days    
Aggregate Intrinsic Value, Options outstanding | $ $ 7,231 $ 1,275 $ 7,231
Aggregate Intrinsic Value, Options exercised | $ 602    
Aggregate Intrinsic Value, Options exercisable | $ $ 5,061   $ 5,061