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Stock-Based Compensation - Weighted-average Assumptions (Details) - Options to purchase common stock - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected stock price volatility 59.20% 61.30% 59.30% 62.20%
Risk free interest rate 3.80% 3.00% 3.90% 1.60%
Expected life of options (years) 5 years 6 months 5 years 3 months 18 days 5 years 6 months 5 years 3 months 18 days
Expected annual dividend per share (in dollars per share) $ 0 $ 0 $ 0 $ 0