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Equity and Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Outstanding beginning of period (in shares) 1,577,545  
Options Granted (in shares) 0 0
Options Exercised (in shares) (515,089)  
Options Forfeited (in shares) (21,004)  
Outstanding end of period (in shares) 1,041,452 1,577,545
Vested and expected to vest (in shares) 1,040,873  
Exercisable (in shares) 984,120  
Weighted-Average Exercise Price    
Outstanding beginning of period (in dollars per share) $ 7.66  
Options Exercised (in dollars per share) 4.39  
Options Forfeited (in dollars per share) 16.45  
Outstanding end of period (in dollars per share) 9.10 $ 7.66
Vested and expected to vest (in dollars per share) 9.22  
Exercisable (in dollars per share) $ 9.23  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Outstanding, weighted average remaining contractual term 4 years 2 months 19 days 5 years 9 months 21 days
Vested and expected to vest, weighted average remaining contractual term 4 years 2 months 19 days  
Exercisable, weighted average remaining contractual term 4 years 1 month 2 days  
Outstanding, intrinsic value $ 3,137,285 $ 2,465,015
Vested and expected to vest, intrinsic value 3,136,393  
Exercisable, intrinsic value $ 2,975,342