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Equity Incentive Plan - Summary of Restricted Stock Unit Activity (Details) - Restricted Stock Units
shares in Thousands
 6 Months Ended
Jun. 30, 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 1,758
Number of shares released | shares (732)
Number of shares expired and forfeited | shares (1,461)
Number of shares outstanding | shares 2,732
Weighted-Average Grant Date Fair Value, outstanding | $ / shares $ 6.46
Weighted-Average Grant Date Fair Value, granted | $ / shares 2.39
Weighted-Average Grant Date Fair Value, released | $ / shares 8.12
Weighted-Average Grant Date Fair Value, expired and forfeited | $ / shares 4.06
Weighted-Average Grant Date Fair Value, outstanding | $ / shares $ 4.67