Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plan - Stock options and stock appreciation rights activity (Details)

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Equity Incentive Plan - Stock options and stock appreciation rights activity (Details) - 2020 Plan - Stock options and stock appreciation rights - $ / shares
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Number of Shares under Equity Plan    
Outstanding, Beginning balance (in shares) 9,342,589  
Granted (in shares) 118,050  
Exercised (in share) (67,825)  
Forfeited and expired (in shares) (53,949)  
Outstanding, Ending balance (in share) 9,338,865 9,342,589
Exercisable (in shares) 6,349,935  
Vested and expected to vest (in shares) 9,338,865  
Weighted- Average Exercise Price per Option    
Outstanding, Beginning balance (in dollars per share) $ 1.94  
Granted (in dollars per share) 4.39  
Exercised (in dollars per share) 1.26  
Forfeited and expired (in dollars per share) 4.34  
Outstanding, Ending balance (in dollars per share) 1.97 $ 1.94
Exercisable (in dollars per share) 1.66  
Vested and expected to vest (in dollars per share) $ 1.97  
Weighted- Average Remaining Contractual Life (in years)    
Outstanding 6 years 10 months 24 days 7 years 2 months 12 days
Exercisable 6 years 4 months 24 days  
Vested and expected to vest 6 years 10 months 24 days