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Stock-based Compensation - Narrative (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Jan. 31, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | $ 4,682,000 | $ 2,716,000 | $ 7,853,000 | $ 5,525,000
Selling, general and administrative |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | 3,940,000 | $ 1,827,000 | 6,176,000 | $ 3,785,000
Stock-based compensation expense |  |  | $ 2,000,000 |  | $ 2,000,000 |
ESPP |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Consecutive offering period |  | 24 months |  |  |  |
Purchase price of common stock |  | 85.00% |  |  |  |
Fixed contribution rate |  | $ 25,000 |  |  |  |
Number of shares authorized (in shares) |  | 2,000,000 |  | 2,000,000 |  | 2,000,000
Share-based compensation arrangement by share-based payment award, shares issued in period (in shares) |  |  | 123,889 |  | 123,889 |
Common stock, capital shares reserved for future issuance (in shares) |  |  | 1,876,111 |  | 1,876,111 |
Share-based payment arrangement, noncash expense |  |  | $ 72,000 | $ 0 | $ 149,000 | $ 0
Share-based payment arrangement, nonvested award, cost not yet recognized, amount |  |  | 600,000 |  | 600,000 |
Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | 2,117,000 | 1,096,000 | $ 3,631,000 | 2,018,000
Expiration period |  |  |  |  | 10 years |
Award vesting period | 3 years |  |  |  | 4 years |
Compensation not yet recognized, stock options |  |  | 12,000,000.0 |  | $ 12,000,000.0 |
Stock Options | Tranche One |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period | 1 year |  |  |  | 1 year |
Award vesting rights | 33.00% |  |  |  | 25.00% |
Stock Options | Tranche Two |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting period | 2 years |  |  |  | 3 years |
Award vesting rights | 67.00% |  |  |  | 75.00% |
RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Award vesting rights |  |  |  |  | 33.00% |
RSAs and RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based payment arrangement, noncash expense |  |  | 1,152,000 | $ 1,373,000 | $ 2,469,000 | $ 2,499,000
Compensation not yet recognized, share-based awards other than options |  |  | $ 6,000,000.0 |  | $ 6,000,000.0 |

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