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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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