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Equity Incentive Plans - Summary of Options Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Summary of the activity of stock option awards, shares    
Options outstanding, Beginning Balance (in Shares) | shares 2,038  
Options granted (in shares) | shares 387  
Options exercised (in Shares) | shares (147)  
Options forfeited/canceled/expired (in shares) | shares (101)  
Options outstanding, Ending Balance (in Shares) | shares 2,177 2,038
Options vested and expected to vest (in Shares) | shares 2,079  
Options exercisable (in Shares) | shares 1,386  
Summary of the activity of stock option awards, weighted average exercise price    
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares $ 16.94  
Options granted, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares 13.08  
Options exercised, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares 7.51  
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares 19.04  
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares 16.76 $ 16.94
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share) | $ / shares 17.03  
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares $ 20.43  
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term 5 years 9 months 29 days 5 years 5 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term 5 years 8 months 1 day  
Options exercisable, Wtd. Avg. Remaining Contractual Term 4 years 25 days  
Options outstanding, Ending Balance, Average Intrinsic Value | $ $ 4,721 $ 2,558
Options vested and expected to vest at March 31, 2024 | $ 4,391  
Options exercisable at March 31, 2024 | $ $ 1,540