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Net Loss Per Share - Antidilutive Shares (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 3,811,850 3,870,100
Common stock warrants    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 226,786 226,786
Common stock options    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 696,973 992,954
Performance stock units    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 567,604 0
Restricted stock units    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 2,320,487 2,650,360