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Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of Options |  |  |  |
Outstanding, Beginning Balance | 11,168,061 | 11,184,450 |  |
Outstanding, Ending Balance | 8,791,833 | 11,168,061 | 11,184,450 |
Employee Stock Option |  |  |  |
Number of Options |  |  |  |
Outstanding, Beginning Balance | 2,805,673 | 2,823,634 | 2,633,175 |
Granted | 180,000 | 442,000 | 1,100,500 |
Exercised | (28,240) | (145,185) | (739,956) |
Expired or Forfeited | (46,125) | (314,776) | (170,085) |
Outstanding, Ending Balance | 2,911,308 | 2,805,673 | 2,823,634 | 2,633,175
Weighted Average Exercise Price |  |  |  |
Outstanding, Beginning Balance | $ 7.80 | $ 7.67 | $ 3.09 |
Granted | 4.43 | 5.45 | 17.23 |
Exercised | 1.33 | 2.56 | 3.36 |
Expired or Forfeited | 11.33 | 9.27 | 8.58 |
Outstanding, Ending Balance | $ 7.60 | $ 7.80 | $ 7.67 | $ 3.09
Weighted Average Remaining Life (Years) |  |  |  |
Options outstanding, weighted average remaining life (years) | 6 years 3 months 18 days | 7 years 3 months 10 days | 7 years 11 months 12 days | 6 years 6 months 10 days

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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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