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Stockholders' Equity - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Shares    
Balance, beginning of period (in shares) 2,145,131 2,923,403
Options granted (in shares) 765,900 421,200
Options exercised (in shares) (297,463) (1,065,567)
Options canceled (in shares) (118,040) (133,905)
Balance, end of period (in shares) 2,495,528 2,145,131
Weighted Average Exercise Price    
Balance, beginning of period (in dollars per share) $ 13.44 $ 4.72
Options granted (in dollars per share) 24.09 43.79
Options exercised (in dollars per share) 2.13 1.77
Options canceled (in dollars per share) 28.30 11.44
Balance, end of period (in dollars per share) $ 17.35 $ 13.44