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Stock-Based Compensation - Schedule of RSU Activity (Details) - 2021 Plans - Restricted Stock Units - $ / shares
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Outstanding, Beginning balance 964,054  
Granted 458,970 0
Vested 0  
Forfeited or expired (2,889)  
Outstanding, Ending balance 1,420,135  
Vested and expected to vest 1,401,121  
Weighted Average Fair Value, Beginning balance $ 17.74  
Weighted Average Fair Value, Granted 17.88  
Weighted Average Fair Value, Vested 0  
Weighted Average Fair Value, Forfeited or expired 17.82  
Weighted Average Fair Value, Ending balance 17.79  
Weighted Average Fair Value, Vested and expected to vest $ 17.78