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Stock-Based Compensation - Assumptions (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Fair value assumptions        
Risk-free interest rate, Minimum     3.46%  
Risk-free interest rate, Maximum     4.65%  
Volatility, Minimum     72.00%  
Volatility, Maximum     76.00%  
Stock-based compensation expense $ 1,154 $ 843 $ 3,103 $ 3,051
Minimum        
Fair value assumptions        
Expected term (years)     6 years  
Maximum        
Fair value assumptions        
Expected term (years)     7 years  
Employee Stock Option        
Fair value assumptions        
Risk-free interest rate, Minimum 3.46%     3.67%
Risk-free interest rate, Maximum 4.15%     4.24%
Volatility, Minimum 75.00%     72.00%
Volatility, Maximum 76.00%     74.00%
Dividend yield 0.00% 0.00% 0.00% 0.00%
Expected term (years) 6 years 6 years    
Fair value of options vested     $ 6,100 $ 5,000
Stock-based compensation expense $ 900 $ 600 2,300 $ 2,500
Unrecognized compensation cost $ 6,200   $ 6,200  
Expected remaining weighted-average period for recognition     2 years 7 months 6 days  
Employee Stock Option | Minimum        
Fair value assumptions        
Expected term (years)       2 years
Employee Stock Option | Maximum        
Fair value assumptions        
Expected term (years)       7 years