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Stock-Based Compensation - Schedule of RSU Activity (Details) - Restricted Stock Units - 2021 Plans - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Outstanding, Beginning balance 964,054    
Granted 776,359 929,090 79,886
Vested (273,618)    
Forfeited or expired (149,393)    
Outstanding, Ending balance 1,317,402 964,054  
Vested and expected to vest 1,305,827    
Weighted Average Fair Value, Beginning balance $ 17.74    
Weighted Average Fair Value, Granted 16.56    
Weighted Average Fair Value, Vested 17.65    
Weighted Average Fair Value, Forfeited or expired 17.81    
Weighted Average Fair Value, Ending balance 17.06 $ 17.74  
Weighted Average Fair Value, Vested and expected to vest $ 17.05