Stock-Based Compensation - Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Number of shares
Balance at beginning of period | shares	2,071,848
Granted | shares	180,800
Exercised | shares	(9,922)
Canceled/forfeited | shares	(20,302)
Balance at end of period | shares	2,222,424
Vested and expected to vest at end of period | shares	2,165,187
Exercisable at end of period | shares	1,354,140
Weighted average exercise price per share
Balance at beginning of period (in dollars per share) | $ / shares	$ 11.49
Granted ( in dollars per share) | $ / shares	10.53
Exercised (in dollars per share) | $ / shares	4.44
Canceled/forfeited (in dollars per share) | $ / shares	11.77
Balance at end of period (in dollars per share) | $ / shares	11.44
Vested and expected to vest at end of period (in dollars per share) | $ / shares	11.44
Exercisable at end of period (in dollars per share) | $ / shares	$ 11.34
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	7 years 1 month 13 days
Weighted average remaining contractual term, Vested and expected to vest	7 years 25 days
Weighted average remaining contractual term, Exercisable	6 years 25 days