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Stock-based Compensation - Schedule of Stock Option Activity (Details)
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Number of Options  
Outstanding, beginning balance (in shares) | shares 1,768,627
Exercised (in shares) | shares (164,295)
Forfeited or expired (in shares) | shares (40,755)
Outstanding, ending balance (in shares) | shares 1,563,577
Weighted Average Exercise Price  
Outstanding, beginning balance (in USD per share) | $ / shares $ 4.71
Exercised (in USD per share) | $ / shares 5.57
Forfeited or expired (in USD per share) | $ / shares 5.80
Outstanding, ending balance (in USD per share) | $ / shares $ 4.59