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Stock-based Compensation - Summary of Stock Option Activity (Details) - Employee Stock Option - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Common Stock      
Outstanding, December 31, 2021 826,609    
Options granted during period 0 30,266 619,618
Exercised (15,834)    
Forfeited or Expired (34,681)    
Outstanding, December 31, 2022 776,094 826,609  
Exercisable 590,401    
Weighted-Average Exercise Price for Equity      
Unexercisable and exercisable outstanding, Beginning balance $ 25.22    
Exercised 4.69    
Forfeited or Expired 35.61    
Unexercisable and exercisable outstanding, Ending balance 25.17 $ 25.22  
Exercisable $ 21.83    
Unexercisable and exercisable outstanding, 5 years 3 months 18 days 6 years 2 months 12 days  
Exercisable 4 years 8 months 12 days    
Aggregate Intrinsic Value      
Unexercisable and exercisable outstanding, Beginning balance [1] $ 3,172    
Exercised 229 [1] $ 3,774 $ 6,027
Unexercisable and exercisable outstanding, Ending balance [1] 5,442 $ 3,172  
Exercisable [1] $ 5,442    
[1] As of December 31, 2023 and 2022, the aggregate intrinsic value was calculated based on the positive difference, if any, between the estimated fair value of common stock on December 31, 2023 and 2022, respectively, or the date of exercise, as appropriate, and the exercise price of the underlying options.