Percentage of automatic increase every year in common stock shares reserved for future issuance.

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Share based compensation arrangement by share based payment award commencement date.

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No definition available.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Aggregate number of common shares reserved for future issuance.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Discount rate from fair value on offering date that participants pay for shares.

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Date the equity-based award expires, in YYYY-MM-DD format.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan.

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The highest quantity of shares an employee can purchase under the plan per period.

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Number of shares authorized for issuance under share-based payment arrangement.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of options outstanding, including both vested and non-vested options.

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Description of terms of award under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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-Topic 505
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.3-04)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1

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-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29-31)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

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Stock-Based Compensation - Additional Information (Details) - USD ($)				1 Months Ended				12 Months Ended
	Feb. 28, 2023	Sep. 16, 2020	Jul. 01, 2020	May 31, 2023	Mar. 31, 2023	Feb. 28, 2023	Feb. 28, 2022	Dec. 31, 2023	Dec. 31, 2022	Jan. 01, 2023	Jan. 01, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense								$ 7,905,000	$ 18,043,000
Percentage of common stock price purchased through payroll deductions							85.00%
Percentage of payroll deductions of employee's compensation during offering period							15.00%
Maximum number of shares employees may purchase during offering period							1,800
Employee Stock Purchase Plan (ESPP)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, terms of award issuance								the number of shares of common stock that are automatically added on January 1st of each year for a period of up to ten years, commencing on the first January 1 following the IPO and ending on (and including) January 1, 2030, in an amount equal to the lesser of (i) one percent (1.0%) of the total number of shares of capital stock outstanding on December 31st of the preceding calendar year, and (ii) 724,000 shares of common stock.
Common stock reserved for future issuance		724,000								632,075	384,739
Share-based payment award, expiration period		10 years
Share-based payment award, expiration date		Jan. 01, 2030
Percentage of automatic increase every year in common stock shares reserved for future issuance		1.00%
Number of shares of common stock issued under ESPP		0						141,393
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, compensation cost not yet recognized, weighted-average period of recognition								8 months 12 days
Share-based payment award, RSU/RSA granted								332,532
Share-based payment award, unvested RSU/RSA granted, compensation cost not yet recognized								$ 1,400,000
Share-based payment award, RSU/RSA granted, weighted average grant date fair value								$ 1.06
Performance and market-based restricted stock units of other option forfeited during period								658,343
Performance and market-based restricted stock units of other option vested during period								556,989	628,921
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, options granted								2,726,871	4,775,676
Options forfeited								2,050,562	2,048,192
Stock options were exercised during the period								$ 0	$ 0
Share-based payment award, options, compensation cost not yet recognized								$ 8,400,000
Share-based payment award, compensation cost not yet recognized, weighted-average period of recognition								1 year 10 months 24 days
Outstanding performance and market-based options								5,960,922	6,158,078			3,649,962
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, RSU/RSA granted, weighted average grant date fair value			$ 5.28
Performance and market-based restricted stock units of other option forfeited during period								21,374
Performance and market-based restricted stock units of other option vested during period								64,120	256,481
Maximum \| Employee Stock Purchase Plan (ESPP)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance		362,000
Existing Plan \| Restricted Stock Awards \| Former President and Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, RSU/RSA granted			769,058
Award requisite service vesting period			3 years
Existing Plan \| Minimum \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period								1 year
New Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, terms of award issuance								The number of shares of common stock reserved for issuance under the New Plan automatically increases on January 1 of each year, for a period of ten years, from January 1, 2021, continuing through January 1, 2030, by 5% of the total number of shares of common stock outstanding on December 31 of the preceding calendar year, or a lesser number of shares as may be determined by the Company’s board of directors.
Common stock reserved for future issuance										3,160,375
Share-based payment award, expiration period		10 years
Share-based payment award, commencement date		Jan. 01, 2021
Share-based payment award, expiration date		Jan. 01, 2030
Percentage of automatic increase every year in common stock shares reserved for future issuance		5.00%
New Plan \| Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period						4 years
Share-based payment award, RSU/RSA granted						81,236
New Plan \| Restricted Stock Units \| Former President and Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, RSU/RSA granted					251,296
New Plan \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, expiration period								10 years
Share-based payment award, options granted								2,726,871
Share-based payment award, options, weighted-average grant date fair value								$ 0.71
New Plan \| Performance Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, options granted	70,235
Stock options were exercised during the period								$ 0
Outstanding performance and market-based options								58,346
New Plan \| Market Based Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, options granted						70,233
Options forfeited								70,233
New Plan \| Performance and Market-based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, RSU/RSA granted						81,233
Performance and market-based restricted stock units of other option forfeited during period								46,562
Performance and market-based restricted stock units of other option vested during period								34,671
New Plan \| Maximum \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period								4 years
Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance								4,000,000
Original Options \| Performance Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, options granted				2,166,653
Award vesting period				3 years 7 months 6 days
Share-based payment award, options, weighted-average grant date fair value				$ 0.5
Stock-based compensation expense				$ 0
Modified Options \| Performance Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment award, options granted								1,516,655
Award vesting period								3 years
Share-based payment award, options, weighted-average grant date fair value								$ 1.28
Stock options were exercised during the period								$ 0
Share-based payment award, options, compensation cost not yet recognized								$ 1,900,000
Share-based payment award, compensation cost not yet recognized, weighted-average period of recognition								2 years
Outstanding performance and market-based options								1,516,655
Stock-based compensation expense								$ 100,000