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Stockholders' Equity - Schedule of Cashless Exercise Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Equity [Abstract]    
Number of shares withheld (in shares) 3,504 3,132
Total amount withheld $ 58 $ 86
Weighted-average price (usd per share) $ 16.59 $ 27.57