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Stock-based Compensation (Details Textual) $ / shares in Units, shares in Thousands, $ in Thousands | 6 Months Ended
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Jun. 30, 2024 USD ($) plan $ / shares shares | Jun. 30, 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 | 176
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 | $ 54,665 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 4 months 24 days |
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 | $ 5.80 | $ 9.18
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ 29,926 |
Weighted-average term to recognize non-vested stock options and RSU awards | 1 year 7 months 6 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 | $ 11,075 |
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 | $ 5.36 | $ 8.84
Total unrecognized compensation expense related to non-vested stock options and RSU awards | $ 5,314 |
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 |
Number of common stock shares available for purchase (in shares) | shares | 5,203 |

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