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Stock-Based Compensation - Narratives (Details 3) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise Price (in dollars per share) | $ 11.27 | $ 12.30 |
Non-cash stock-based compensation expense | $ 4,433 | $ 2,311 | $ 16,631
Stock Options Exercised (in shares) | 0 |  |
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period |  | 5 years |
Award Expiration Period | 10 years |  |
Non-cash stock-based compensation expense | $ 800 | $ 600 | 5,900
Cost Not yet Recognized for Stock Options | $ 1,800 |  |
Cost Not yet Recognized, Period for Recognition | 2 years 8 months 12 days |  |
Fair Value of Stock Options Vested | $ 700 | $ 300 | $ 6,600
Stock Options Exercised (in shares) | 0 | 25,000 | 39,700
Cash Received from Stock Options Exercised |  | $ 200 | $ 400
Stock Options | Tranche One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award Vesting Rights, Percentage | 33.00% | 20.00% |
Stock Options | Tranche Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award Vesting Rights, Percentage | 33.00% | 20.00% |
Stock Options | Tranche Three |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award Vesting Rights, Percentage | 34.00% | 20.00% |
Stock Options | Tranche Four |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award Vesting Rights, Percentage |  | 20.00% |
Stock Options | Tranche Five |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award Vesting Rights, Percentage |  | 20.00% |
Stock Options | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise Price (in dollars per share) | $ 4.83 |  |
Stock Options | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise Price (in dollars per share) | $ 20.00 |  |

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