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Stock-Based Incentive Compensation Plans - Schedule of Restricted Stock Units (Details) - Unvested restricted stock units
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of Shares Underlying Outstanding Restricted Stock Units  
Unvested, beginning balance (in shares) | shares 1,756,209
Granted (in shares) | shares 1,993,790
Vested (in shares) | shares (590,698)
Cancelled (in shares) | shares (643,200)
Unvested, ending balance (in shares) | shares 2,516,101
Weighted Average Grant Date Fair Value  
Unvested, beginning balance (in dollars per share) | $ / shares $ 10.15
Granted (in dollars per share) | $ / shares 4.62
Vested (in dollars per share) | $ / shares 9.89
Cancelled (in dollars per share) | $ / shares 7.17
Unvested, ending balance (in dollars per share) | $ / shares $ 6.59