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Stock-Based Compensation - Employee Stock Purchase Plan (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Jan. 31, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Stock-Based Compensation |  |  |  |  |
Stock-based compensation expense |  | $ 989,000 | $ 1,207,000 | $ 2,067,000 | $ 2,364,000
2021 Employee Stock Purchase Plan |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Number of shares issued |  |  |  | 288,466 |
Termination year |  |  |  | 2024-01 |
Stock-based compensation expense |  | $ 0 |  | $ 0 |
UK Sharesave Sub-plan (SAYE) |  |  |  |  |
Stock-Based Compensation |  |  |  |  |
Options authorized |  | 25,875 |  | 25,875 |
Number of shares issued | 0 |  |  |  |
Stock-based compensation expense |  | $ 0 |  | $ 0 |

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