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Stock-based Compensation - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Stock-based compensation        
Proceeds from issuances of common stock from employee stock purchase plan     $ 460 $ 337
Unrecognized compensation cost related to outstanding options $ 50,041   $ 50,041  
Period over which unrecognized compensation cost is expected to be recognized as expense     2 years 7 months 6 days  
Restricted stock units        
Stock-based compensation        
Vesting period (in years)     4 years  
Total fair value of shares vested     $ 16,906 10,020
Employee stock purchase plan.        
Stock-based compensation        
Purchase price percentage     85.00%  
Issuance for employee stock purchase plan, shares     26,505  
Proceeds from issuances of common stock from employee stock purchase plan     $ 460  
Employee stock purchase plan compensation expenses $ 55 $ 28 $ 155 $ 88