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Stock Incentive Plan and Stock-based Compensation - Summary of Assumptions Used to Value Awards (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Dividend yield 0.00% 0.00% 0.00%
Expected volatility, minimum 72.57% 60.00% 55.00%
Expected volatility, maximum 77.08%   95.80%
Risk-free interest rate, minimum 1.99% 0.66% 0.32%
Risk-free interest rate, maximum 4.05% 1.44% 0.56%
Lack of marketability discount 0.00%    
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Lack of marketability discount   0.00% 0.00%
Expected term (years) 3 years 1 month 6 days 4 years 1 month 6 days 5 years 4 months 24 days
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Lack of marketability discount     20.48%
Expected term (years) 6 years 3 months 18 days 6 years 3 months 18 days 6 years 6 months