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Stock-Based Compensation - Summary of Stock Options by Exercise Price Range (Details)
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Outstanding Number of Options | shares 1,475,316
Outstanding Weighted Average Remaining Contractual Term (in years) 7 years 4 months 17 days
Outstanding Weighted Average Exercise Price (per share) $ 2.90
Exercisable Number of Options | shares 894,769
Exercisable Weighted Average Exercise Price (per share) $ 2.85
$0.00 - $2.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options exercise price range, lower limit 0.00
Stock options exercise price range, upper limit $ 2.50
Outstanding Number of Options | shares 540,816
Outstanding Weighted Average Remaining Contractual Term (in years) 7 years 6 months 3 days
Outstanding Weighted Average Exercise Price (per share) $ 2.19
Exercisable Number of Options | shares 326,937
Exercisable Weighted Average Exercise Price (per share) $ 2.05
$2.51 -$5.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options exercise price range, lower limit 2.51
Stock options exercise price range, upper limit $ 5.00
Outstanding Number of Options | shares 898,000
Outstanding Weighted Average Remaining Contractual Term (in years) 7 years 6 months 14 days
Outstanding Weighted Average Exercise Price (per share) $ 3.20
Exercisable Number of Options | shares 531,332
Exercisable Weighted Average Exercise Price (per share) $ 3.11
$5.01 - $7.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options exercise price range, lower limit 5.01
Stock options exercise price range, upper limit $ 7.50
Outstanding Number of Options | shares 36,500
Outstanding Weighted Average Remaining Contractual Term (in years) 1 year 6 months 25 days
Outstanding Weighted Average Exercise Price (per share) $ 6.18
Exercisable Number of Options | shares 36,500
Exercisable Weighted Average Exercise Price (per share) $ 6.18