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Equity Incentive Plans - Summary of Options Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Summary of the activity of stock option awards, shares      
Options outstanding, Beginning Balance (in Shares) 1,885    
Options granted (in shares) 362 300 500
Options exercised (in Shares) (36)    
Options forfeited/canceled (in shares) (173)    
Options outstanding, Ending Balance (in Shares) 2,038 1,885  
Options vested and expected to vest (in Shares) 1,979    
Options exercisable (in Shares) 1,349    
Summary of the activity of stock option awards, weighted average exercise price      
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share) $ 18.03    
Options granted, Wtd. Avg. Exercise Price (in dollars per share) 9.07    
Options exercised, Wtd. Avg. Exercise Price (in dollars per share) 6.76    
Options forfeited/canceled, Wtd. Avg. Exercise Price (in dollars per share) 14.60    
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share) 16.94 $ 18.03  
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share) 17.20    
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share) $ 21.30    
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term 5 years 5 months 23 days 5 years 11 months 4 days  
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term 5 years 4 months 20 days    
Options exercisable, Wtd. Avg. Remaining Contractual Term 4 years 1 month 9 days    
Options outstanding, Beginning Balance, Average Intrinsic Value $ 2,374    
Options outstanding, Ending Balance, Average Intrinsic Value 2,558 $ 2,374  
Options vested and expected to vest at December 31, 2022 2,390    
Options exercisable at December 31, 2022 617    
Intrinsic value of options exercised 94 24  
Fair value of shares vested $ 519 $ 600 $ 925