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Stock Options and Restricted Stock Units - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023	Dec. 31, 2022
Restricted Stock Units
Stock Options
Compensation cost related to non-vested stock options and restricted stock awards not yet recognized	$ 2.8
Weighted-average period over which compensation cost recognized	11 months
Employee Stock Option
Stock Options
Compensation cost related to non-vested stock options and restricted stock awards not yet recognized	$ 2.7
Weighted-average period over which compensation cost recognized	13 months
2013 Stock Plan | Restricted Stock Units
Stock Options
Number of Options, Outstanding	227,809
2013 Stock Plan | Employee Stock Option
Stock Options
Number of Options, Outstanding	5,336,828	5,339,162	6,502,657	6,690,490
2021 Stock Plan | Restricted Stock Units
Stock Options
Number of Options, Outstanding	520,952
2021 Stock Plan | Employee Stock Option
Stock Options
Number of Options, Outstanding	918,237	923,571	994,000	1,027,500

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