Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Stock Options [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense related to employee stock option	$ 0.9	$ 0.8
Unrecognized stock-based compensation expense	$ 9.8
Weighted-average recognition period	3 years 2 months 1 day
Restricted Stock Units (RSUs) [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense related to employee stock option	$ 0.1	$ 0.0
Unrecognized stock-based compensation expense	$ 0.7
Weighted-average recognition period	2 months 8 days
2021 Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Discount from market price, offering date	85.00%
Discount from market price, purchase date	85.00%
Common stock, new shares issued	0	0

Amount of expense for employee benefit and equity-based compensation.

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- Definition

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

+ References

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-Publisher FASB
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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.

+ References

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- Definition

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

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

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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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Number of new stock issued during the period.

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