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Stock Incentive Plans - Stock options (Details) - Stock options - USD ($)
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Shares          
Outstanding, beginning of year (in shares)     2,253,431    
Granted (in shares)     1,420,550    
Exercised (in shares)     (61,598)    
Cancelled or forfeited (in shares)     (428,815)    
Expired (in shares)     (523)    
Outstanding, end of year (in shares) 3,183,045   3,183,045   2,253,431
Vested and exercisable (in shares) 961,989   961,989    
Vested and expected to vest (in shares) 3,183,045   3,183,045    
Weighted-Average Exercise Price          
Outstanding, beginning of year (in dollars per share)     $ 15.43    
Granted (in dollars per share)     13.28    
Exercised (in dollars per share)     5.03    
Cancelled or forfeited (in dollars per share)     14.16    
Expired (in dollars per share)     138.60    
Outstanding at end of year (in dollars per share) $ 14.83   14.83   $ 15.43
Vested and exercisable at end of year (in dollars per share) 21.44   21.44    
Vested and expected to vest at end of the year (in dollars per share) $ 14.83   $ 14.83    
Weighted Average Remaining Contractual Term (years)          
Outstanding     8 years 7 months 28 days   8 years 6 months 25 days
Vested and exercisable     7 years 9 months 3 days    
Vested and expected to vest     8 years 7 months 28 days    
Aggregate Intrinsic Value          
Outstanding $ 2,184,000   $ 2,184,000   $ 9,733,000
Vested and exercisable 739,000   739,000    
Vested and expected to vest 2,184,000   $ 2,184,000    
Stock Incentive Plans          
Number of options exercised (in shares)     61,598    
Intrinsic value of options exercised 100,000 $ 0 $ 500,000 $ 0  
Aggregate fair value of options vested $ 1.2 $ 3,300,000 $ 2,700,000 $ 3,900,000  
Weighted average grant date fair value of options granted (in dollars per share) $ 7.79 $ 3.04 $ 8.76 $ 3.87  
Unrecognized compensation expense related to unvested stock option awards $ 16,200,000   $ 16,200,000    
Weighted-average amortization period over which cost is expected to be recognized     2 years 10 months 24 days