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Equity Incentive Plans and Stock-Based Compensation - Summary of Activity under Stock Option Plans (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Number of Shares (thousands)        
Outstanding options, Beginning balance (in shares)     80  
Exercised (in shares)     (33)  
Canceled (in shares)     (3)  
Outstanding options, Ending balance (in shares) 44   44  
Vested and exercisable (in shares) 44   44  
Weighted-Average Exercise Price Per Share        
Beginning balance (in dollars per share)     $ 4.63  
Exercised (in dollars per share)     4.40  
Canceled (in dollars per share)     12.19  
Ending balance (in dollars per share) $ 4.38   4.38  
Vested and exercisable at end of period (in dollars per share) $ 4.38   $ 4.38  
Weighted-average remaining contractual term (in years)     5 months 19 days  
Weighted average remaining contractual term, Vested and exercisable at end of period (in years)     5 months 19 days  
Aggregate Intrinsic Value $ 413   $ 413  
Aggregate Intrinsic Value, Vested and exercisable at end of period $ 413   $ 413  
Closing price (in dollars per share) $ 13.85   $ 13.85  
Intrinsic value of options exercised $ 100 $ 300 $ 300 $ 1,000