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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, 2023
Dec. 31, 2022
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 (713,301)  
Options Available for Grant, RSUs cancelled/forfeited 7,057  
Warrants exercised (236)  
Options and Awards Available for Grant, Options granted (8,000)  
Options and Awards Available for Grant, Options cancelled/forfeited 12,177  
Options and Awards Available for Grant, Outstanding, Ending balance 598,397 689,472
Number of Options, Outstanding, Beginning balance 1,994,726  
Number of Options, Options granted 8,000  
Number of Options, Options exercised (161,121)  
Number of Options, Options cancelled/forfeited (12,177)  
Number of Options, Outstanding, Ending balance 1,829,428 1,994,726
Number of Options, exercisable 1,296,776  
Weighted - Average Exercise Price Per Share, Options outstanding, Beginning balance $ 5.88  
Weighted - Average Exercise Price Per Share, Options granted 6.47  
Weighted - Average Exercise Price Per Share, Options exercised 4.99  
Weighted - Average Exercise Price Per Share, Options cancelled/forfeited 6.48  
Weighted - Average Exercise Price Per Share, Options outstanding, Ending balance 5.96 $ 5.88
Weighted - Average Exercise Price Per Share, Options exercisable $ 5.67  
Weighted - Average Remaining Contractual Life, Options outstanding 6 years 10 months 24 days 7 years 9 months 18 days
Weighted - Average Remaining Contractual Life, Options exercisable 6 years 6 months  
Aggregate Intrinsic Value, Options outstanding $ 5,676 $ 1,275
Aggregate Intrinsic Value, Options exercised 679  
Aggregate Intrinsic Value, Options exercisable $ 4,411