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Stock 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]
Stock options vested and expected to vest aggregate intrinsic value	$ 1,051
Proceeds from stock issued during period	$ 76	$ 137
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Offering period of employee stock purchase plan	6 months
Limited percentage of annual contribution	20.00%
Percentage of discount and fair value of option	15.00%
Proceeds from stock issued during period	$ 100
Number of stock issued during period	22,852
Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price percentage of market value of common stock	85.00%
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average grant-date fair value of options granted	$ 2.81
Stock options vested and expected to vest aggregate intrinsic value	$ 1,100
Total unrecognized compensation cost, period for recognition	2 years 8 months 12 days
Total unrecognized compensation cost	$ 2,800
Restricted Stock Unit (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term	3 years
Total unrecognized compensation cost	$ 4,900
Performance stock unit (PSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted average remaining contractual term	1 year 1 month 6 days
Total unrecognized compensation cost	$ 26,445
Description of performance stock unit	Service as well as market and performance conditions determine the number of PSUs that the holder will earn from 0% to 150% of the target number of shares. The percentage received is based on the Company common stock price targets over a three-year service period. Additionally, the Company must achieve or exceed 75% of the year to date revenue target measured at the end of the quarter in which the price target is achieved.

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