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Stock-based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares | 12 Months Ended |
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Dec. 31, 2023 | Dec. 31, 2022
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Shares Outstanding | 6,820,869 | 4,033,522
Shares Exercisable | 2,820,315 |
Exercise Price $0.16 to 4.22 |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Shares Outstanding | 3,709,593 |
Shares Exercisable | 1,005,785 |
Exercise Price $0.16 to 4.22 | Minimum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 0.16 |
Exercise Price $0.16 to 4.22 | Maximum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 4.22 |
Exercise Price $8.93 to 19.94 |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Shares Outstanding | 2,759,028 |
Shares Exercisable | 1,615,758 |
Exercise Price $8.93 to 19.94 | Minimum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 8.93 |
Exercise Price $8.93 to 19.94 | Maximum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 19.94 |
Exercise Price $20.55 to 29.41 |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Shares Outstanding | 352,248 |
Shares Exercisable | 198,772 |
Exercise Price $20.55 to 29.41 | Minimum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 20.55 |
Exercise Price $20.55 to 29.41 | Maximum |  |
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items] |  |
Exercise Price ($) | $ 29.41 |

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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