Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	9 Months Ended
	Sep. 30, 2023
Number of shares
Balance at beginning of period	2,071,848
Granted	212,960
Exercised	(19,556)
Canceled/forfeited	(62,988)
Balance at end of period	2,202,264
Vested and expected to vest at end of period	2,163,822
Exercisable at end of period	1,547,113
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 11.49
Granted ( in dollars per share)	10.50
Exercised (in dollars per share)	5.17
Canceled/forfeited (in dollars per share)	11.18
Balance at end of period (in dollars per share)	11.46
Vested and expected to vest at end of period (in dollars per share)	11.46
Exercisable at end of period (in dollars per share)	$ 11.43
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	6 years 8 months 4 days
Weighted average remaining contractual term, Vested and expected to vest	6 years 7 months 20 days
Weighted average remaining contractual term, Exercisable	5 years 10 months 13 days