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Stock-Based Incentive Compensation Plans - Schedule of Stock Option Activity (Details) - $ / shares
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Number of Shares    
Number of shares, beginning balance (in shares) 3,446,583  
Options granted (in shares) 314,801  
Options exercised (in shares) (181,742)  
Options cancelled (in shares) (122,141)  
Number of shares, ending balance (in shares) 3,457,501 3,446,583
Vested and exercisable (in shares) 2,057,141  
Vested and expected to vest (in shares) 3,457,501  
Weighted-Average Exercise Price    
Beginning balance (in dollars per share) $ 3.61  
Options granted (in dollar per share) 3.21  
Options exercised (in dollar per share) 0.03  
Options cancelled (in dollar per share) 4.07  
Ending balance (in dollars per share) 3.75 $ 3.61
Vested and exercisable (in dollars per share) 3.03  
Vested and expected to vest (in dollars per share) $ 3.75  
Weighted Average Remaining Contractual Term (in Years)    
Balance 5 years 2 months 15 days 8 years 21 days
Vested and exercisable 4 years 9 months 21 days  
Vested and expected to vest 5 years 2 months 15 days