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Stock-based Compensation - Weighted-Average assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-based Compensation      
Weighted-average fair value of the options granted $ 1.96 $ 0.76 $ 1.85
Weighted-average assumptions      
Expected term 6 years 3 months 6 years 3 months 6 years 3 months
Expected volatility 78.36% 84.66% 84.19%
Risk-free interest rate 3.60% 1.90% 0.78%
Expected dividend yield 0.00% 0.00% 0.00%