Quarterly report pursuant to Section 13 or 15(d)

Stock Based Compensation - Summary of Stock Option Activity (Details)

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Stock Based Compensation - Summary of Stock Option Activity (Details) - $ / shares
3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]      
Number of options outstanding, beginning balance 2,198,552    
Number of options outstanding, Granted 0 0  
Number of options outstanding ,Exercised (37,536)    
Number of options outstanding, Forfeited, canceled, or expired (166,413)    
Number of options outstanding, ending balance 1,994,603   2,198,552
Number of options outstanding, vested and expected to vest 1,994,603    
Number of option outstanding Exercisable 1,762,321    
Weighted- Average Exercise Price, beginning balance $ 17.11    
Weighted- Average Exercise Price, Granted 0    
Weighted- Average Exercise Price, Exercised 7.13    
Weighted- Average Exercise Price, Forfeited, canceled, or expired 22.26    
Weighted- Average Exercise Price, ending balance 16.87   $ 17.11
Weighted- Average Exercise Price, Vested and expected to vest 16.87    
Weighted- Average Exercise Price, Exercisable $ 16.74    
Weighted- Average Remaining Contractual Term (in years) 5 years 1 month 6 days   5 years
Vested and expected to vest weighted- average remaining contractual term (in years) 5 years 1 month 6 days    
Exercisable weighted- average remaining contractual term (in years) 4 years 9 months 18 days