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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Jan. 01, 2024	Apr. 27, 2016
Stockholders' Equity
Stock-based compensation expense	$ 2,039	$ 2,023
2016 Plan
Stockholders' Equity
Shares reserved	6,451,155
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	1,605,871		236,003	1,600,000
Incremental share increase (as a percent)	1.00%
Incremental share increase (in shares)	500,000
Stock-based compensation expense	$ 100	$ 200

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