Quarterly report pursuant to Section 13 or 15(d)

Stock-Based Compensation - Narrative (Details)

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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Equity Incentive Plans    
Intrinsic value of stock options exercised $ 60 $ 106
Employer cash contribution $ 257 $ 165
2021 Equity Incentive Plan    
Equity Incentive Plans    
Shares reserved (in shares) 889,712  
Available for grant (in shares) 586,128  
2019 Equity Incentive Plan    
Equity Incentive Plans    
Available for grant (in shares) 0  
Options granted (in shares) 82,746  
401(k) Savings Plan Part 1    
Equity Incentive Plans    
Defined contribution plan, employer matching contribution, percent of employees' gross pay 100.00%  
Defined contribution plan, employer matching contribution, percent of match 3.00%  
401(k) Savings Plan Part 2    
Equity Incentive Plans    
Defined contribution plan, employer matching contribution, percent of employees' gross pay 50.00%  
Defined contribution plan, employer matching contribution, percent of match 2.00%  
Stock options    
Equity Incentive Plans    
Servicing period 10 years  
Vesting period 4 years  
Restricted stock units    
Equity Incentive Plans    
Vesting period 3 years