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Stock Options and Restricted Stock Units - Weighted Average Fair Values and Assumptions (Details) - $ / shares
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Stock Options and Restricted Stock Units    
Weighted average fair value of options granted (in dollars per share) $ 1.79 $ 3.10
Risk-free interest rate 3.88%  
Expected term (years) 3 years  
Expected volatility factor 79.95%  
Minimum    
Stock Options and Restricted Stock Units    
Risk-free interest rate   1.94%
Expected term (years)   3 years
Expected volatility factor   62.00%
Maximum    
Stock Options and Restricted Stock Units    
Risk-free interest rate   2.75%
Expected term (years)   6 years 5 months 1 day
Expected volatility factor   76.48%