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Equity and Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Outstanding beginning of period (in shares) 1,739,240  
Options Granted (in shares) 0  
Options Exercised (in shares) (90,245)  
Options Forfeited (in shares) (71,450)  
Outstanding end of period (in shares) 1,577,545 1,739,240
Vested and expected to vest (in shares) 1,571,949  
Exercisable (in shares) 1,283,196  
Weighted-Average Exercise Price    
Outstanding beginning of period (in dollars per share) $ 7.72  
Options Exercised (in dollars per share) 7.22  
Options Forfeited (in dollars per share) 9.71  
Outstanding end of period (in dollars per share) 7.66 $ 7.72
Vested and expected to vest (in dollars per share) 7.73  
Exercisable (in dollars per share) $ 7.55  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted average remaining contractual term 5 years 9 months 21 days 7 years 7 days
Vested and expected to vest, weighted average remaining contractual term 5 years 9 months 18 days  
Exercisable, weighted average remaining contractual term 5 years 5 months 26 days  
Outstanding, intrinsic value $ 2,465,015 $ 25,542,823
Vested and expected to vest, intrinsic value 2,460,325  
Exercisable, intrinsic value $ 2,252,404