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Equity Incentive Plans - Summary of Non-vested Stock Option Activity (Details) - $ / shares shares in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Summary of the activity of stock option awards, shares |  |  |
Options non-vested, beginning balance (in shares) | 472 |  |
Options granted (in shares) | 362 |  |
Vested (in shares) | (251) |  |
Forfeited (in shares) | (173) |  |
Options non-vested, ending balance (in shares) | 410 | 472 |
Options non vested, Wtd. avg. grant date fair value beginning balance (in dollars per share) | $ 1.89 |  |
Granted, Wtd. Avg. grant date fair value (in dollars per share) | 4.53 | $ 2.49 | $ 0.79
Vested, Wtd. Avg. grant date fair value (in dollars per share) | 2.07 |  |
Forfeited, Wtd. Avg. grant date fair value (in dollars per share) | 14.60 |  |
Options non vested, Wtd. avg. grant date fair value ending balance (in dollars per share) | $ 2.95 | $ 1.89 |

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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. + References No definition available. + Details
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- Definition Number of non-vested options outstanding. + References No definition available. + Details
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- Definition Weighted average grant-date fair value of non-vested options forfeited. + References No definition available. + Details
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- Definition Weighted average grant-date fair value of non-vested options outstanding. + References No definition available. + Details
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- Definition Number of options vested. + References No definition available. + Details
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