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Stock-Based Compensation - Restricted Stock Units (Details) - Restricted stock units - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Outstanding at beginning of period 311,991 163,043  
Granted 729,734 197,950 194,232
Vested (101,559) (40,783) (12,000)
Canceled/forfeited (32,963) (8,219) (19,189)
Outstanding at end of period 907,203 311,991 163,043