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Stock-Based Compensation - Unvested Stock Options Rollforward (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Number of Options  
Beginning Balance (in shares) | shares 429,503
Granted (in shares) | shares 519,482
Vested (in shares) | shares (122,221)
Forfeited (in shares) | shares (243,770)
Ending Balance (in shares) | shares 582,994
Weighted- Average Grant Date Fair Value  
Beginning Balance (in dollars per share) | $ / shares $ 5.42
Granted (in dollars per share) | $ / shares 3.01
Vested (in dollars per share) | $ / shares 5.73
Forfeited (in dollars per share) | $ / shares 3.42
Ending Balance (in dollars per share) | $ / shares $ 4.04