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Stock-based Compensation - Schedule of Share-Based Payment Arrangement, Option, Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2024
Dec. 31, 2023
Jun. 30, 2024
Number of Options      
Beginning balance (in shares)     4,909,302
Forfeited during the year (in shares)     (103,812)
Exercised during the year (in shares)     (80,357)
Expired during the year (in shares)     (22,809)
Ending balance (in shares) 4,702,325 4,909,302 4,702,325
Exercisable (in shares) 4,517,989   4,517,989
Weighted-Average Exercise Price      
Beginning balance (in usd per share)     $ 1.55
Forfeited during the year (in usd per share)     4.10
Exercised during the year (in usd per share)     0.68
Expired during the year (in usd per share)     2.19
Ending balance (in usd per share) $ 1.49 $ 1.55 1.49
Exercisable, weighted average exercise price (in usd per share) $ 1.39   $ 1.39
Weighted-Average Remaining Contractual Term (years)      
Weighted average remaining contractual life of outstanding options (in years) 5 years 18 days 5 years 6 months 29 days  
Exercisable, weighted average remaining contractual life of outstanding options (in years) 4 years 11 months 19 days    
Intrinsic value, outstanding $ 636 $ 3,393 $ 636
Exercisable, intrinsic value $ 636   $ 636