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Stock-Based Compensation - Assumptions Used in Black-Scholes Model to Determine Fair Value for Stock Option Awards Granted (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Risk-free interest rate, minimum 1.70% 0.90% 0.40%
Risk-free interest rate, maximum 3.80% 1.30% 1.40%
Expected stock price volatility, minimum 60.00% 57.50% 50.00%
Expected stock price volatility, maximum 77.50% 60.00% 62.00%
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term 5 years 8 months 12 days 5 years 8 months 12 days 5 years 3 months 18 days
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term 6 years 1 month 6 days 6 years 1 month 6 days 6 years 3 months 18 days