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Stock-Based Compensation - Stock Option - Additional Information (Details)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
USD ($)
installment
$ / shares
Jun. 30, 2022
USD ($)
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Share based compensation option awards contractual term 10 years  
Vesting period for subsequent stock options granted to employees and new directors 4 years  
Portion of initial stock options granted to employees and new directors that vests on first anniversary of grant date 25.00%  
Portion of initial stock options granted to employees and new directors that vests ratably over three years after completion of first year of service 75.00%  
Number of vesting equal installments | installment 36  
Options granted, weighted average fair value per share (in dollars per share) | $ / shares $ 3.53 $ 5.18
Proceeds from exercise of stock options $ 0 $ 125
Service option awards    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Full acceleration of vesting, employee or executive officer subject to involuntary termination, period post change of control of the Company 24 months  
Unrecognized compensation expenses $ 8,100  
Unrecognized compensation expenses, weighted average period 1 year 3 months 18 days