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Stock-based Compensation - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Stock-based compensation        
Proceeds from issuances of common stock from employee stock purchase plan     $ 169 $ 203
Unrecognized compensation cost related to outstanding options $ 57,292   $ 57,292  
Period over which unrecognized compensation cost is expected to be recognized as expense     2 years 9 months 18 days  
Restricted stock units        
Stock-based compensation        
Vesting period (in years)     4 years  
Total fair value of shares vested     $ 16,480 9,697
Employee stock purchase plan.        
Stock-based compensation        
Employee Stock Purchase Plan, Purchase Price Percentage     85.00%  
Issuance for employee stock purchase plan, shares     11,329  
Proceeds from issuances of common stock from employee stock purchase plan     $ 169  
Employee stock purchase plan compensation expenses $ 55 $ 28 $ 101 $ 60