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Stock-based Compensation - Narrative (Details) | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |  |
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Jun. 30, 2023 USD ($) shares | Apr. 30, 2023 shares | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2023 USD ($) installment $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Jan. 31, 2023 shares | Jun. 30, 2019 shares | Apr. 30, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based payment arrangement, expense | $ |  |  |  |  | $ 1,000,000 |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 2,046,000 | 2,000,000 | 286,000 |  |  |
Aggregate intrinsic value of options exercised | $ |  |  |  |  | $ 700,000 | $ 3,100,000 | $ 14,900,000 |  |  |
Weighted average grant date fair value (in dollars per share) | $ / shares |  |  |  |  | $ 3.31 | $ 4.99 | $ 12.80 |  |  |
Unrecognized compensation cost, options | $ |  |  |  |  | $ 8,200,000 |  |  |  |  |
Nonemployee Awards |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 50,000 | 0 | 9,000 |  |  |
Aggregate intrinsic value of options exercised | $ |  |  |  |  | $ 100,000 | $ 0 | $ 100,000 |  |  |
Weighted average grant date fair value (in dollars per share) | $ / shares |  |  |  |  | $ 1.05 | $ 0 | $ 11.29 |  |  |
ESPP |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares authorized (in shares) | shares | 2,000,000 |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, consecutive offering period | 24 months |  |  |  |  |  |  |  |  |
Option price as a percent of common stock | 85.00% |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, maximum employee subscription amount | $ | $ 25,000 |  |  |  |  |  |  |  |  |
Share-based payment arrangement, expense | $ |  |  |  |  | $ 25,000 |  |  |  |  |
Incentive Stock Options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Option price as a percent of common stock |  |  |  |  | 100.00% |  |  |  |  |
Non-Statutory Stock Options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Option price as a percent of common stock |  |  |  |  | 85.00% |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Percent of voting interests |  |  |  |  | 10.00% |  |  |  |  |
Purchase price of common stock when voting percent is above minimum threshold |  |  |  |  | 110.00% |  |  |  |  |
Expiration period |  |  |  |  | 10 years |  |  |  |  |
Vesting period of units granted |  |  |  |  | 4 years |  |  |  |  |
Expiration period of options upon employee's termination of service |  |  |  |  | 3 months |  |  |  |  |
Weighted-average remaining amortization period |  |  |  |  | 2 years 10 months 24 days |  |  |  |  |
Stock options | Tranche One |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting period of units granted |  |  |  |  | 1 year |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 25.00% |  |  |  |  |
Stock options | Tranche Two |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting period of units granted |  |  |  |  | 3 years |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 75.00% |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 1,049,000 | 518,000 | 163,000 |  |  |
Weighted-average remaining amortization period |  |  |  |  | 2 years |  |  |  |  |
Equity instruments other than options, aggregate intrinsic value, vested | $ |  |  |  |  | $ 1,100,000 | $ 1,800,000 | $ 1,800,000 |  |  |
Unrecognized compensation cost, awards other than options | $ |  |  |  |  | $ 4,100,000 |  |  |  |  |
RSUs | Tranche One |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting period of units granted |  |  |  |  | 3 years |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 33.00% |  |  |  |  |
RSUs | Tranche Two |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting period of units granted |  |  |  |  | 4 years |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 25.00% |  |  |  |  |
PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, number of installments | installment |  |  |  |  | 2 |  |  |  |  |
Threshold level multiplier |  |  |  |  | 0 |  |  |  |  |
PBOs | Tranche One |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 50.00% |  |  |  |  |
PBOs | Tranche Two |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  |  |  | 50.00% |  |  |  |  |
Performance Share Units (PSUs) |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, performance goals achieved, superior level, shares eligible to vest, multiplier |  |  |  |  | 200.00% |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 0 |  |  |  |  |
PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 0 | 733,000 | 433,000 |  |  |
Aggregate intrinsic value of options exercised | $ |  |  |  |  | $ 0 | $ 0 | $ 300,000 |  |  |
Weighted-average remaining amortization period |  |  |  |  | 2 months 12 days |  |  |  |  |
Unrecognized compensation cost, awards other than options | $ |  |  |  |  | $ 15,900 |  |  |  |  |
Restricted Stock |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  | 277,000 | 159,000 | 46,000 |  |  |
Weighted-average remaining amortization period |  |  |  |  | 8 months 12 days |  |  |  |  |
Equity instruments other than options, aggregate intrinsic value, vested | $ |  |  |  |  | $ 400,000 | $ 500,000 | $ 1,300,000 |  |  |
Unrecognized compensation cost, awards other than options | $ |  |  |  |  | $ 600,000 |  |  |  |  |
PSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Granted (in shares) | shares |  |  |  |  |  | 686,000 | 82,000 |  |  |
Weighted-average remaining amortization period |  |  |  |  | 2 months 12 days |  |  |  |  |
Equity instruments other than options, aggregate intrinsic value, vested | $ |  |  |  |  | $ 1,600,000 | $ 2,100,000 | $ 1,300,000 |  |  |
Unrecognized compensation cost, awards other than options | $ |  |  |  |  | $ 200,000 |  |  |  |  |
2022 Inducement Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares authorized (in shares) | shares |  |  |  |  |  |  |  | 2,000,000 |  |
2019 Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares authorized (in shares) | shares |  |  |  |  |  |  |  |  | 8,100,000 |
Total shares remaining available for issuance (in shares) | shares |  |  |  |  | 9,100,000 |  |  |  |  | 7,897,144
2019 Amended Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares authorized (in shares) | shares |  | 15,897,144 |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment ward, number of additional shares authorized (in shares) | shares |  | 8,000,000 |  |  |  |  |  |  |  |
Shares reserved for future issuance (in shares) | shares |  | 22,000,000 |  |  |  |  |  |  |  |
2022 PSU | PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Estimated performance goal achievement rate |  |  | 85.00% |  |  |  |  |  |  |
2022 PBO | PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Estimated performance goal achievement rate |  |  | 42.50% |  |  |  |  |  |  |
2022 PSU And 2022 PBO | PBOs | Tranche One |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  | 50.00% |  |  |  |  |  |  |
2022 PSU And 2022 PBO | PBOs | Tranche Two |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  | 50.00% |  |  |  |  |  |  |
2021 PSU | PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Estimated performance goal achievement rate |  |  |  | 146.00% |  |  |  |  |  |
2021 PBO | PBOs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Estimated performance goal achievement rate |  |  |  | 73.00% |  |  |  |  |  |
2021 PSU And 2021 PBO | PBOs | Tranche One |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  |  | 50.00% |  |  |  |  |  |
2021 PSU And 2021 PBO | PBOs | Tranche Two |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Award vesting rights percentage |  |  |  | 50.00% |  |  |  |  |  |

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