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Stock Based Compensation - Summary of Changes in Company's Stock Options (Details) - Stock options
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Shares  
Beginning balance (in shares) | shares 195,398
Granted (in shares) | shares 57,930
Exercised (in shares) | shares (6,023)
Forfeited or expired (in shares) | shares (3,195)
Ending balance (in shares) | shares 244,110
Fully vested shares and shares expected to vest (in shares) | shares 244,110
Shares exercisable (in shares) | shares 148,332
Weighted-Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 39.48
Granted (in dollars per share) | $ / shares 51.25
Exercised (in dollars per share) | $ / shares 31.61
Forfeited or expired (in dollars per share) | $ / shares 56.73
Ending balance (in dollars per share) | $ / shares 42.24
Fully vested shares and shares expected to vest (in dollars per share) | $ / shares 42.24
Shares exercisable (in dollars per share) | $ / shares $ 32.81
Weighted-Average Remaining Contractual Term (In Years)  
Outstanding 6 years 3 months 14 days
Fully vested shares and shares expected to vest 6 years 3 months 14 days
Shares exercisable 4 years 7 months 2 days
Aggregate Intrinsic Value (In Thousands)  
Outstanding | $ $ 6,055
Fully vested shares and shares expected to vest | $ 6,055
Shares exercisable | $ $ 4,984