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Stock-based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Number of Options |  |
Beginning balance (in shares) | 7,882 |
Options granted (in shares) | 2,609 |
Option exercised (in shares) | (44) |
Options cancelled (in shares) | (1,153) |
Ending balance (in shares) | 9,294 | 7,882
Vested (in shares) | 3,497 |
Unvested awards (in shares) | 5,797 |
Weighted-Average Exercise Price per Option |  |
Beginning balance (in dollars per share) | $ 4.43 |
Options granted (in dollars per share) | 2.57 |
Options exercised (in dollars per share) | 1.84 |
Options cancelled (in dollars per share) | 6.84 |
Ending balance (in dollars per share) | 3.62 | $ 4.43
Vested (in dollars per share) | 3.98 |
Unvested awards (in dollars per share) | $ 3.4 |
Weighted- Average Remaining Contractual Life (in Years) |  |
Contractual term | 8 years 6 months | 7 years 10 months 24 days
Vested | 8 years 2 months 12 days |
Unvested awards | 8 years 8 months 12 days |
Aggregate Intrinsic Value |  |
Outstanding | $ 439 | $ 0
Vested | 78 |
Unvested awards | $ 361 |
Share price (in usd per share) | $ 2.21 |

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