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Stock-Based Compensation - Summary of Stock-Based Compensation Expense by Award Type (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 14,051	$ 19,433	$ 14,378
Stock Options
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	5,746	8,560	8,585
RSUs
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	7,539	9,990	4,765
ESPP
Stock Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 766	$ 883	$ 1,028

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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