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Share-Based Compensation Plans - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of Stock Options, Outstanding at beginning of period 20,111,246  
Number of Stock Options, Granted 706,627  
Number of Stock Options, Exercised (405,134)  
Number of Stock Options, Forfeited (1,386,353)  
Number of Stock Options, Expired (1,507,019)  
Number of Stock Options, Outstanding at end of period 17,519,367 20,111,246
Number of Stock Options, Exercisable at June 30, 2023 11,633,165  
Number of Stock Options, Nonvested at June 30, 2023 5,886,199  
Weighted average remaining contractual life (in years), Outstanding 4 years 8 months 23 days 4 years 10 months 9 days
Weighted average remaining contractual life (in years), Exercisable 2 years 11 months 23 days  
Weighted average remaining contractual life (in years), Nonvested 8 years 2 months 19 days  
Weighted Average Exercise Price (per share), Outstanding at beginning of period $ 3.63  
Weighted Average Exercise Price (per share), Granted 1.75  
Weighted Average Exercise Price (per share), Exercised 0.19  
Weighted Average Exercise Price (per share), Forfeited 5.38  
Weighted Average Exercise Price (per share), Expired 4.2  
Weighted Average Exercise Price (per share), Outstanding at end of period 3.65 $ 3.63
Weighted Average Exercise Price (per share), Exercisable at June 30, 2023 3.58  
Weighted Average Exercise Price (per share), Nonvested at June 30, 2023 $ 3.81  
Aggregate intrinsic value, Outstanding at beginning of period $ 320  
Aggregate intrinsic value, Outstanding at end of period 1,047 $ 320
Aggregate intrinsic value, Exercisable at June 30, 2023 202  
Aggregate intrinsic value, Nonvested at June 30, 2023 $ 845