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Stock-Based Compensation - Schedule of table summarizes stock option activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, Outstanding 4,872,527  
Number of shares, Outstanding, Granted 0  
Number of shares, Outstanding, Exercised (755,016)  
Number of shares, Outstanding, Forfeited (83,150)  
Number of shares, Outstanding, Expired (46,600)  
Number of shares, Outstanding 3,987,761  
Number of shares, Exercisable 2,138,472  
Number of shares, Vested and expected to vest 3,987,761  
Weighted average exercise price per share, Outstanding $ 3.64  
Weighted average exercise price per share, Exercised 0.33  
Weighted average exercise price per share, Forfeited 4.85  
Weighted average exercise price per share, Expired 2.03  
Weighted average exercise price per share, Outstanding 4.26 $ 3.64
Weighted average exercise price per share, Exercisable 1.32  
Weighted average exercise price per share, Vested and expected to vest $ 4.26  
Weighted average remaining contractual term (years), Outstanding at ending 6 years 9 months 18 days 6 years 1 month 6 days
Weighted average remaining contractual term (years), Exercisable 5 years 1 month 28 days  
Weighted average remaining contractual term (years), Vested and expected to vest 6 years 9 months 18 days  
Aggregate intrinsic value, Outstanding $ 738  
Aggregate intrinsic value, Exercisable $ 673