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Stock-based Compensation - Restricted Stock Unit Activity (Details)
$ / shares in Units, $ in Millions
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Weighted-Average Grant Date Fair Value  
Unrecognized compensation expense recognition period (in years) 1 year 6 months
Restricted Stock Units  
Shares  
Beginning Balance (in shares) | shares 415,084
Granted (in shares) | shares 656,135
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Exercised | shares (62,751)
Exercised (in dollars per share) | $ / shares $ 10.31
Forfeited or expired (in shares) | shares (27,657)
Ending Balance (in shares) | shares 980,811
Weighted-Average Grant Date Fair Value  
Beginning Balance (in dollars per share) | $ / shares $ 8.83
Granted (in dollars per share) | $ / shares 4.82
Forfeited or expired (in dollars per share) | $ / shares 6.94
Ending Balance (in dollars per share) | $ / shares $ 6.11
Total unrecognized compensation cost | $ $ 4.9
Unrecognized compensation expense recognition period (in years) 1 year 7 months 6 days