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Share-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock remained available for future issuance | 1,568,206 |
Stock compensation expense | $ 2,640 | $ 2,281
Number of shares reserved for issuance | 430,612 |
Shares issued | 216,506 |
Exercise price of options granted | $ 1.72 |
Description of offering period under plan | ESPP provides for successive six-month offering periods beginning on September 1st and March 1st of each year. |
Options and Restricted Stock Units (RSUs) |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Remaining unrecognized share based compensation expense for options and restricted stock units | $ 7,300 |
Amortized to expense period | 2 years 8 months 12 days |
Bonus-To-Options Program |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock compensation expense | $ 200 | $ 200
Exercise price of options granted | $ 1.46 |

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