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Share-based Compensation Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jan. 31, 2023 | Jan. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares issued, payment for employee bonuses, net of shares withheld for taxes |  |  | 397,951 | 81,534
Weighted average grant-date fair values of options granted |  |  | $ 1.78 | $ 2.2
Unrecognized share-based compensation expense related to stock options |  |  | $ 3.6 |
Weighted average period of unrecognized share-based compensation expense |  |  | 4 years 8 months 12 days |
Intrinsic value of shares vested |  |  | $ 1.7 |
Stock option exercises |  |  | 105,187 | 258,648
Shares issued, vesting of non-vested stock |  |  | 175,196 | 60,595
Shares issued, payment for employee bonuses |  |  | 603,830 | 125,199
Shares issued, withheld to cover taxes |  |  | 205,879 | 43,665
Unrecognized share-based compensation expense related to non-vested shares |  |  | $ 0.8 |
Intrinsic value of options excercised |  |  | $ 0.2 |
Stock Options |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock option grants, term |  |  | 10-year |
Weighted average period of unrecognized share-based compensation expense |  |  | 1 year 10 months 24 days |
Common Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock option exercises |  |  |  | 258,648
Shares issued, vesting of non-vested stock |  |  | 175,196 | 60,595
Shares issued, payment for employee bonuses |  |  | 603,830 | 125,199
Maximum | Stock Options |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock option, vesting period |  |  | 4 years |
Minimum | Stock Options |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock option, vesting period |  |  | 3 years |
2018 EIP | Common Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for grant |  |  | 0 |
2018 EIP | Maximum | Common Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for grant |  |  | 13,900,000 |
2021 EIP |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares available for grant |  |  | 6,100,000 |
Shares reserved for issuance |  |  | 8,800,000 |
2021 Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Percentage of shares of company's common stock outstanding |  |  | 4.00% |
Additional number of shares authorised in share pool | 1,400,000 | 1,300,000 |  |
Shares reserved for issuance under ESPP |  |  | 1,000,000 |
2021 Employee Stock Purchase Plan | Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares reserved for issuance under ESPP |  |  | 3,500,000 |
Ratio of annual increase shares reserved for issuance under ESPP to number of shares of common stock outstanding |  |  | 1.00% |
Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares issued |  |  | 39,340 |

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