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v3.23.2

Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares entitled per RSU (in shares) |  |  | 1 |  |
Nonvested award, option, cost not yet recognized, amount | $ 1.3 |  | $ 1.3 |  |
Stock options granted during period (in shares) |  |  | 156,592 | 134,719 |
Warrants outstanding (in shares) | 9,416,830 |  | 9,416,830 |  | 9,427,343
Number of shares of common stock to be issued for upon exercise of warrants (in shares) | 5,231,572 |  | 5,231,572 |  | 5,237,413
Warrant, exercise price (in dollars per share) | $ 24.39 |  | $ 24.39 |  |
Number of warrants exercised during period (in shares) | 10,513 | 0 | 10,513 | 0 |
Proceeds from exercises of stock options and stock warrants | $ 0.1 |  | $ 0.1 |  |
Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Weighted average exercise price of options exercised during period (in dollars per share) |  |  | $ 3.68 | $ 3.68 |
Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Weighted average exercise price of options exercised during period (in dollars per share) |  |  | $ 13.82 | $ 13.82 |
RSUs |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized stock based compensation expense | $ 18.6 |  | $ 18.6 |  |
Share-based payment arrangement, period for recognition |  |  | 2 years |  |
ESPP shares issued during period (in shares) |  |  | 200,887 |  |
Nonvested balance (in shares) | 1,010,802 |  | 1,010,802 |  | 517,135
RSUs | Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Requisite service period |  |  | 1 year |  |
RSUs | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Requisite service period |  |  | 3 years |  |
PSUs |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Requisite service period |  |  | 3 years |  |
Unrecognized stock based compensation expense | $ 19.0 |  | $ 19.0 |  |
Share-based payment arrangement, period for recognition |  |  | 2 years 1 month 6 days |  |
Shares of entitled common stock (in shares) |  |  | 1.5 |  |
Award vesting period |  |  | 3 years |  |
Nonvested balance (in shares) | 1,130,779 |  | 1,130,779 |  | 473,371
PSUs | Performance Conditions |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Nonvested balance (in shares) | 452,316 |  | 452,316 |  |
PSUs | Market Conditions |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Nonvested balance (in shares) | 678,463 |  | 678,463 |  |
Stock options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Share-based payment arrangement, period for recognition |  |  | 8 months 12 days |  |
Stock options expected to vest (in shares) | 671,595 |  | 671,595 |  |
Stock options expected to vest, weighted average grant-date fair value (in dollars per share) | $ 13.09 |  | $ 13.09 |  |
ESPP |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
ESPP shares issued during period (in shares) |  |  | 189,837 | 155,486,000 |

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