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Stock Incentive Plans - Stock-Based Compensation Expense (Details) - Employee Stock Option | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Assumptions used to calculate fair value of stock options |  |
Expected dividend yield | 0.00% | 0.00%
Minimum |  |
Assumptions used to calculate fair value of stock options |  |
Weighted-average expected volatility | 65.86% | 65.60%
Expected term (in years) | 5 years 6 months | 5 years
Risk-free interest rate | 3.42% | 1.48%
Maximum |  |
Assumptions used to calculate fair value of stock options |  |
Weighted-average expected volatility | 73.68% | 70.22%
Expected term (in years) | 6 years 3 months | 6 years 3 months
Risk-free interest rate | 4.67% | 4.17%

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Rate of weighted-average expected volatility for award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Expected term of 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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