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Stockholders' Equity - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Jan. 01, 2024 | Apr. 27, 2016
Stockholders' Equity |  |  |  |  |  |
Stock-based compensation expense | $ 1,860 | $ 1,808 | $ 3,899 | $ 3,831 |  |
2016 Plan |  |  |  |  |  |
Stockholders' Equity |  |  |  |  |  |
Shares reserved | 6,615,454 |  | 6,615,454 |  |  |
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 | 1,497,964 |  | 1,497,964 |  | 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 | $ 100 | $ 200 | $ 300 |  |

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