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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 10, 2023 | Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Employee stock purchase plan expenses | $ 0.8 | $ 0.4 |  |  |
Unrecognized pre-tax noncash compensation | $ 37.6 |  |  | $ 28.8 |
Expected weighted average period | 1 year 2 months 12 days |  |  |  |
ESPP percentage | 15.00% |  |  |  |
Impact of divided to stock option awards and ESPP purchases |  |  |  | $ 1.5 |
Excess Tax Benefits | $ 0.3 | $ 0.5 | $ 0.2 |  |
2021 Equity Plan [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Stock options plan expiration period | 10 years |  |  |  |
Common stock, reserved for future issuance |  |  |  |  | 17,525,000
Share available for issuance | 16,713,654 |  |  |  |
2021 Equity Plan [Member] | Minimum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 4 years |  |  |  |
2021 Equity Plan [Member] | Maximum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |
2020 Equity Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |
Stock options plan expiration period | 10 years |  |  |  |
Number of units, issued | 0 | 0 | 0 |  |
Intrinsic value of options exercised | $ 3.0 | $ 3.1 | $ 1.1 |  |
Employee Stock Option [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Unrecognized pre-tax noncash compensation | 17.4 |  |  |  |
Intrinsic value of options exercised | $ 0.1 | $ 0.0 | $ 0.0 |  |
Employee Stock Option [Member] | 2021 Equity Plan [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |
Employee Stock Option [Member] | Share-based Payment Arrangement, Tranche One | 2021 Equity Plan [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |
Employee Stock Option [Member] | 2020 Equity Plan | Share-based Payment Arrangement, Tranche One |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting percentage | 20.00% |  |  |  |
Vesting period | 5 years |  |  |  |
Restricted Stock |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Unrecognized pre-tax noncash compensation | $ 13.9 |  |  |  |
Restricted Stock Units [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Unrecognized pre-tax noncash compensation | $ 6.3 |  |  |  |
Restricted Stock Units [Member] | 2021 Equity Plan [Member] | Minimum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 3 years |  |  |  |
Restricted Stock Units [Member] | 2021 Equity Plan [Member] | Maximum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period | 5 years |  |  |  |

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