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Stock Option Plan - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Intrinsic value |  | $ 0.2
Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock options, unrecognized compensation cost | $ 0.1 |
Stock options, cost not yet recognized, remaining weighted average vesting period | 6 months 10 days |
Granted (in shares) | 0 | 0
Stock options | 2019 Incentive Award Plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock options, expiration period | 10 years |
Stock options, vesting period | 4 years |
Shares authorized, percentage | 4.00% |
Shares that remain available for future awards (in shares) | 1,959,901 |
Restricted stock units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock options, vesting period | 4 years |
Aggregate intrinsic value, vested | $ 0.4 | $ 0.3
Awards granted (in dollars per share) | $ 1.95 | $ 2.30
Stock options, unrecognized compensation cost | $ 4.6 |
Stock options, cost not yet recognized, remaining weighted average vesting period | 3 years 2 months 12 days |
Employee stock purchase plan |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Shares authorized, percentage | 1.00% |
Shares that remain available for future awards (in shares) | 565,187 |
Maximum employee payroll deduction percentage | 20.00% |

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