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Stock-Based Compensation - Stock Options Outstanding and Exercisable (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Number of Options  
Beginning Balance (in shares) | shares 1,616,720
Granted (in shares) | shares 447,562
Exercised (in shares) | shares (25,000)
Forfeited or expired (in share) | shares (149,115)
Ending Balance (in shares) | shares 1,890,167
Weighted- Average Exercise Price Per Share  
Beginning Balance (in dollars per share) | $ / shares $ 13.08
Granted (in dollars per share) | $ / shares 9.68
Exercised (in dollars per share) | $ / shares 9.02
Forfeited or expired (in dollars per share) | $ / shares 13.40
Ending Balance (in dollars per share) | $ / shares $ 12.30
Outstanding, Aggregate Intrinsic Value | $ $ 0
Outstanding, Weighted Average Remaining Term 7 years 1 month 6 days
Vested and Expected to Vest (in shares) | shares 1,890,167
Vested and Expected to Vest, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 12.30
Vested and Expected to Vest, Aggregate Intrinsic Value | $ $ 0
Vested and Expected to Vest, Weighted Average Remaining Term 7 years 1 month 6 days
Exercisable (in shares) | shares 1,460,664
Exercisable, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 12.88
Exercisable, Aggregate Intrinsic Value | $ $ 0
Exercisable, Weighted Average Remaining Term 6 years 7 months 6 days