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Stock-Based Compensation - 2020 Employee Stock Purchase Plan (Details)
$ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2021
USD ($)
Sep. 30, 2022
USD ($)
shares
Sep. 30, 2021
USD ($)
Dec. 31, 2020
item
Stock-Based Compensation          
Percent of common stock at fair market value to be exercised     100.00%    
Stock-based compensation expense | $ $ 4,275 $ 4,157 $ 13,968 $ 11,286  
Employee stock purchase plan contingently issuable          
Stock-Based Compensation          
Percentage of eligible earnings withheld         15.00%
Percent of common stock at fair market value to be exercised         85.00%
Number of months for each purchase period         6 months
Number of purchase periods | item         2
Common stock reserved for issuance | shares 430,416   430,416    
Stock-based compensation expense | $ $ 100   $ 300    
Employee stock purchase plan contingently issuable | Maximum          
Stock-Based Compensation          
Offering period         27 months
2022 Inducement Plan          
Stock-Based Compensation          
Common stock reserved for issuance | shares 2,000,000   2,000,000