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Equity Incentive Plans - Summary of Non-vested Stock Option Activity (Details) - $ / shares
shares in Thousands
 12 Months Ended
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