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Stock-based Compensation - Restricted Stock Unit Activity (Details)
$ / shares in Units, $ in Millions
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Weighted-Average Grant Date Fair Value  
Unrecognized compensation expense recognition period (in years) 1 year 3 months 18 days
Restricted Stock Units  
Shares  
Beginning Balance (in shares) | shares 415,084
Granted (in shares) | shares 696,635
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Exercised | shares (135,396)
Exercised (in dollars per share) | $ / shares $ 8.32
Forfeited or expired (in shares) | shares (68,046)
Ending Balance (in shares) | shares 908,277
Weighted-Average Grant Date Fair Value  
Beginning Balance (in dollars per share) | $ / shares $ 8.83
Granted (in dollars per share) | $ / shares 4.84
Forfeited or expired (in dollars per share) | $ / shares 7.53
Ending Balance (in dollars per share) | $ / shares $ 5.95
Total unrecognized compensation cost | $ $ 2.9
Unrecognized compensation expense recognition period (in years) 1 year 3 months 18 days