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Stock-based Compensation (Details Textual) $ / shares in Units, $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2024 USD ($) plan $ / shares shares | Mar. 31, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Number of plans | plan | 3 |
Employee stock purchase plan sales, net (in shares) | shares | 251,000 | 176,000
Incentive Plan |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ | $ 62,593 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 7 months 6 days |
Performance-based stock options issued in period (in shares) | shares | 0 |
Incentive Plan | Unvested restricted stock unit awards |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares | $ 5.30 | $ 10.32
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ | $ 33,457 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 9 months 18 days |
Inducement Plan |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ | $ 12,326 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 4 months 24 days |
Inducement Plan | Unvested restricted stock unit awards |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares | $ 5.25 | $ 9.64
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ | $ 5,588 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 8 months 12 days |
ESPP |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Number of shares of common stock authorized to be purchased (in shares) | shares | 7,975,000 |
Number of common stock shares available for purchase (in shares) | shares | 5,203,000 |

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