Annual report pursuant to Section 13 and 15(d)

Stock-Based Payments - Schedule of Weighted-Average Assumptions used in Black-Scholes Option-Pricing Model (Details)

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Stock-Based Payments - Schedule of Weighted-Average Assumptions used in Black-Scholes Option-Pricing Model (Details) - Stock Option
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average risk-free interest rate 3.56% 0.99% 1.28%
Expected option term (in years) 5 years 9 months 18 days 6 years 10 days 5 years 11 months 26 days
Volatility 83.32% 81.56% 78.27%