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Stock-based Compensation - Additional Information (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2020 | Dec. 31, 2023 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Expected dividend yield |  | 0.00% |
Fair value of options granted |  | $ 9,800 | $ 16,300
Fair value of restricted stock units granted |  | 500 | 100
Fair value of options vested |  | 9,800 | 6,800
Aggregate intrinsic value of options exercised |  | 200 | 3,000
Unrecognized compensation cost |  | $ 16,000 |
Remaining weighted-average period expected to recognize unrecognized compensation cost |  | 1 year 11 months 26 days |
Stock-based compensation expense |  | $ 10,623 | 10,606
Common Stock |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Issued common stock, share under employee stock purchase plan |  | 166,682 |
Employee Stock Purchase Plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Terms of award |  | Under the ESPP, eligible employees can authorize payroll deductions for amounts up to the lesser of 15% of their qualifying wages or the statutory limit under the U.S. Internal Revenue Code. The ESPP provides for offering periods of six months in duration with one purchase period per offering period beginning May 18 and November 18 of each year. |
Offering periods | 6 months |  |
Percentage of fair market value of common shares | 85.00% |  |
Stock-based compensation expense |  | $ 100 | $ 200
Employee Stock Purchase Plan | Maximum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Maximum percentage of payroll deductions for qualifying wages or statutory limit | 15.00% |  |
Shares of common stock purchased by each participant |  | 10,000 |

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