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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Apr. 27, 2016
Stockholders' Equity
Stock-based compensation expense	$ 1,766	$ 2,560	$ 5,597	$ 7,681
2016 Plan
Stockholders' Equity
Shares reserved	5,773,265		5,773,265
Employee Stock Purchase Plan
Stockholders' Equity
Purchase price of common stock under plan (as a percent)			85.00%
Offering period (in months)			6 months
Shares reserved	1,438,335		1,438,335		1,600,000
Incremental share increase (as a percent)			1.00%
Incremental share increase (in shares)			500,000
Stock-based compensation expense	$ 100	$ 200	$ 400	$ 700

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Period which an employee's right to purchase shares of stock at a discount, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Aggregate number of common shares reserved for future issuance.

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