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Stock-based Compensation - Schedule of Stock Option Activity (Details) $ / shares in Units, $ in Thousands | 6 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2024 USD ($) $ / shares shares | Dec. 31, 2023 USD ($) $ / shares shares
Number of Shares Underlying Outstanding Options |  |
Number of shares underlying outstanding options, beginning balance (in shares) | shares | 1,871,649 |
Number of shares underlying outstanding options, options exercised (in shares) | shares | (76,860) |
Number of shares underlying outstanding options, options cancelled (in shares) | shares | (6,705) |
Number of shares underlying outstanding options, ending balance (in shares) | shares | 1,788,084 | 1,871,649
Number of shares underlying outstanding options, vested and expected to vest (in shares) | shares | 1,788,084 |
Number of shares underlying outstanding options, exercisable (in shares) | shares | 1,659,069 |
Weighted- Average Exercise Price per Share |  |
Weighted average exercise price, beginning balance (in dollars per share) | $ / shares | $ 7.36 |
Weighted average exercise price, options exercised (in dollars per share) | $ / shares | 1.19 |
Weighted average exercise price, options cancelled (in dollars per share) | $ / shares | 16.49 |
Weighted average exercise price, ending balance (in dollars per share) | $ / shares | 7.56 | $ 7.36
Weighted average exercise price, options vested and expected to vest (in dollars per share) | $ / shares | 7.56 |
Weighted average exercise price, options exercisable (in dollars per share) | $ / shares | $ 7.51 |
Weighted- Average Remaining Contractual Term (in years) |  |
Stock options outstanding, weighted average remaining contractual term | 6 years 2 months 8 days | 6 years 8 months 19 days
Stock options vested and expected to vest, weighted average remaining contractual term | 6 years 2 months 8 days |
Stock options exercisable, weighted average remaining contractual term | 6 years 2 months 8 days |
Aggregate Intrinsic Value |  |
Stock options outstanding, aggregate intrinsic value, beginning balance | $ | $ 6,191 |
Stock options outstanding, aggregate intrinsic value, ending balance | $ | 7,930 | $ 6,191
Stock options vested and expected to vest, aggregate intrinsic value | $ | 7,930 |
Stock options exercisable, aggregate intrinsic value | $ | $ 7,421 |

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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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)(i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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