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Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares
 12 Months Ended
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