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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total common stock reserved for future issuance (in shares) 7,564,920   7,564,920   6,549,080
Share-based compensation expense $ 3,151 $ 4,747 $ 8,370 $ 11,286  
Internally developed software          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation expense $ 500 600 $ 1,200 600  
Unvested performance-based restricted stock units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Total common stock reserved for future issuance (in shares) 1,089,045   1,089,045   1,089,045
Restricted stock units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Fair value of options vested $ 1,200 $ 200 $ 1,600 $ 3,100  
Employee stock option          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense 1,200   $ 1,200    
Unrecognized compensation expense, period for recognition, years     8 months 26 days    
Performance Stock Units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense $ 13,700   $ 13,700    
Unrecognized compensation expense, period for recognition, years     1 year 10 months 28 days    
2021 Equity and incentive compensation plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance (in shares) 7,835,715   7,835,715    
2018 Equity incentive plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares authorized for issuance (in shares) 6,287,687   6,287,687