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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