Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation - Summary of Option Activity Under 2011 Plan and 2020 Plan (Details)

v3.24.1
Stock-Based Compensation - Summary of Option Activity Under 2011 Plan and 2020 Plan (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Number of Shares, Granted 0 0  
2011 Plan and 2020 Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Number of Shares Outstanding, Beginning Balance 732,395 609,895  
Number of Shares, Granted 111,668 144,982  
Number of Shares, Exercised   (3,643)  
Number of Shares, Forfeited (4,540) (18,839)  
Number of Shares Outstanding, Ending Balance 839,523 732,395 609,895
Number of Shares, Exercisable 648,979    
Weighted Average Exercise Price, Outstanding Beginning Balance $ 13.14 $ 14.58  
Weighted Average Exercise Price ,Granted 3.03 6  
Exercised, weighted average exercise price (in dollars per share)   12.12  
Forfeited, weighted average exercise price (in dollars per share) 10.74 7.68  
Weighted Average Exercise Price, Outstanding Ending Balance 11.9 $ 13.14 $ 14.58
Weighted Average Exercise Price, Exercisable $ 13.91    
Weighted Average Remaining Contractual Term (In Years), Outstanding Beginning Balance 5 years 3 months 18 days 6 years 2 months 12 days 6 years 11 months 26 days
Weighted Average Remaining Contractual Term (In Years), Outstanding Ending Balance 5 years 3 months 18 days 6 years 2 months 12 days 6 years 11 months 26 days
Weighted Average Remaining Contractual Term (In Years), Exercisable 5 years 1 month 17 days