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Net Loss Per Share - Antidilutive Securities Excluded From Computation of Earnings Per Share (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Net Loss Per Share        
Antidilutive securities excluded from computation of earnings per share 1,476,025 1,546,673 1,487,769 1,546,673
Restricted stock units        
Net Loss Per Share        
Antidilutive securities excluded from computation of earnings per share 674,178 559,180 674,178 559,180
Employee Stock Option [Member]        
Net Loss Per Share        
Antidilutive securities excluded from computation of earnings per share 526,047 722,771 526,047 722,771
Performance stock units        
Net Loss Per Share        
Antidilutive securities excluded from computation of earnings per share 216,291 164,027 216,291 164,027
Employee stock purchase plan        
Net Loss Per Share        
Antidilutive securities excluded from computation of earnings per share 59,509 100,695 71,253 100,695