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Equity Incentive Plan - Summary of Restricted Stock Unit Activity (Details) - Restricted Stock Units
shares in Thousands
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of shares outstanding | shares 3,167
Number of shares granted | shares 1,408
Number of shares released | shares (195)
Number of shares expired and forfeited | shares (529)
Number of shares outstanding | shares 3,851
Number of shares outstanding, weighted average grant date fair value | $ / shares $ 6.46
Number of shares granted, weighted average grant date fair value | $ / shares 2.58
Number of shares released, weighted average grant date fair value | $ / shares 10.13
Number of shares expired and forfeited, weighted average grant date fair value | $ / shares 3.16
Number of shares outstanding, weighted average grant date fair value | $ / shares $ 5.31