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Stock-Based Compensation - Stock Option Activity (Details)
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Outstanding beginning of period (in shares) | shares 1,577,545  
Options 'Exercised (in shares) | shares (419,233)  
Options Forfeited (in shares) | shares (19,676)  
Outstanding end of period (in shares) | shares 1,138,636 1,577,545
Vested and expected to vest (in shares) | shares 1,138,899  
Exercisable (in shares) | shares 1,043,268  
Weighted-Average Exercise Price    
Outstanding beginning of period (in dollars per share) | $ / shares $ 7.66  
Options Exercised (in dollars per share) | $ / shares 4.1  
Options Forfeited (in dollars per share) | $ / shares 15.78  
Outstanding end of period (in dollars per share) | $ / shares 8.83 $ 7.66
Vested and expected to vest (in dollars per share) | $ / shares 8.94  
Exercisable (in dollars per share) | $ / shares $ 8.97  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted average remaining contractual term 4 years 4 months 13 days 5 years 9 months 21 days
Vested and expected to vest, weighted average remaining contractual term 4 years 4 months 9 days  
Exercisable, weighted average remaining contractual term 4 years 1 month 28 days  
Outstanding, intrinsic value | $ $ 2,363,338 $ 2,465,015
Vested and expected to vest, intrinsic value | $ 2,361,278  
Exercisable, intrinsic value | $ $ 2,182,154