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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Oct. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Jul. 31, 2021
May 02, 2019
Feb. 01, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based payment awards classified as liabilities, gain (loss)   $ 4.1        
Stock Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock available for future issuance (in shares)   1,067,189 101,053 206,557    
Percent threshold of common stock issued and outstanding for annual increase of shares available for issue       5.00%    
Stock-based compensation expense for unvested stock options   $ 0.4        
Options vested in period, fair value   2.5 $ 2.7      
Stock-based compensation expense for unvested awards   $ 1.4        
Stock Incentive Plan | Share-based Payment Arrangement, Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expected weighted average period (in years)   3 years 10 months 24 days        
Stock Incentive Plan | Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expected weighted average period (in years)   3 years 9 months 3 days        
Vested in period, fair value   $ 4.4 6.0      
Granted (in shares) 37,894 102,012        
Percent reduction in salary 25.00%          
Equity Incentive Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense for unvested stock options   $ 0.2        
Options vested in period, fair value   $ 9.3 6.5      
Authorized to grant (in shares)           176,625
Equity Incentive Plan | Share-based Payment Arrangement, Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Expected weighted average period (in years)   2 years 4 months 20 days        
STI Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense for unvested stock options   $ 0.1        
Expected weighted average period (in years)   2 years 7 months 6 days        
Options vested in period, fair value   $ 1.7 $ 0.1      
Authorized to grant (in shares)         58,875