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Equity Incentive Plans - Restricted Stock Units Activity (Details) - Restricted stock units
shares in Thousands
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of RSUs  
Outstanding balance, beginning (in shares) | shares 1,406
Granted (in shares) | shares 2,293
Vested (in shares) | shares (720)
Forfeited (in shares) | shares (56)
Outstanding balance, ending (in shares) | shares 2,923
Weighted-Average Grant Date Fair Value Per Share  
Outstanding balance, beginning (in dollars per share) | $ / shares $ 2.17
Granted (in dollars per share) | $ / shares 3.02
Vested (in dollars per share) | $ / shares 2.80
Forfeited (in dollars per share) | $ / shares 3.17
Outstanding balance, ending (in dollars per share) | $ / shares $ 2.67