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Stockholders’ Equity and Equity Incentive Plan - Schedule of Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 30, 2023
Number of Shares  
Beginning balance (in shares) 7,756,680
Granted (in shares) 0
Anti-dilution adjustment (in shares) 389,037
Exercised (in shares) (733,884)
Cancelled and forfeited (in shares) (254,615)
Ending balance (in shares) 7,157,218
Vested and exercisable (in shares) 6,289,769
Weighted- Average Exercise Price  
Beginning balance (in dollars per share) $ 6.96
Granted (in dollars per share) 0
Anti-dilution adjustment (in dollars per share) 1.92
Exercised (in dollars per share) 1.93
Cancelled and forfeited (in dollars per share) 19.14
Ending Balance (in dollars per share) 5.91
Vested and exercisable (in dollars per share) $ 4.89
Ending balance, weighted average remaining contractual life 5 years 1 month 2 days
Vested and exercisable, weighted average remaining contractual life 4 years 9 months 25 days
Exercised, aggregate intrinsic value $ 4,415
Outstanding ending balance, aggregate intrinsic value 23,721
Vested and exercisable, aggregate intrinsic value $ 22,948