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Stock-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
May 13, 2018 shares | Apr. 30, 2021 shares | Dec. 31, 2022 USD ($) item $ / shares shares | Dec. 31, 2021 USD ($) shares | Dec. 31, 2020 USD ($) shares | May 31, 2018 shares
Stock-Based Compensation |  |  |  |  |  |
Proceeds from exercise of stock options and warrants |  |  | $ 2,048 | $ 8,995 | $ 9,388 |
Total intrinsic value of options exercised |  |  |  |  | 17,600 |
Total intrinsic value of options |  |  | 5,200 | 57,500 | 24,100 |
Stock-based compensation expense |  |  | $ 20,082 | $ 15,345 | $ 8,916 |
Issued | shares |  |  | 0 | 0 |  |
Number of stock incentive plans | item |  |  | 5 |  |  |
Stock Options |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |
Intrinsic value per share | $ / shares |  |  | $ 17.35 |  |  |
Unrecognized compensation cost related to unvested stock options |  |  | $ 23,200 |  |  |
Weighted average recognition period |  |  | 2 years 2 months 12 days |  |  |
Issued | shares |  |  | 589,287 | 541,353 | 1,789,000 |
Restricted stock units |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |
Weighted average recognition period |  |  | 2 years 9 months 18 days |  |  |
Stock-based compensation expense |  |  | $ 7,800 | $ 4,200 |  |
Unrecognized compensation expense |  |  | $ 21,600 |  |  |
Warrants |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |
Common stock issued | shares |  |  |  |  | 963,149 |
Proceeds from exercise of stock options and warrants |  |  |  |  | $ 3,700 |
Plan 2018 | Stock Options |  |  |  |  |  |
Stock-Based Compensation |  |  |  |  |  |
Total shares available for future grant | shares |  |  | 1,726,284 |  |  | 3,730,179
Number of shares authorized but unissued under prior plans | shares | 1,269,821 |  |  |  |  |
Increase in number of shares authorized | shares |  | 2,850,000 |  |  |  |

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- Definition Number of securities into which the class of warrant or right may be converted. For example, but not limited to, 500,000 warrants may be converted into 1,000,000 shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=126973232&loc=d3e21475-112644 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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