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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, 2024
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of shares outstanding | shares 1,405
Number of shares granted | shares 1,482
Number of shares released | shares (829)
Number of shares expired and forfeited | shares (415)
Number of shares outstanding | shares 1,642
Weighted-Average Grant Date Fair Value, outstanding | $ / shares $ 4.43
Weighted-Average Grant Date Fair Value, granted | $ / shares 2.3
Weighted-Average Grant Date Fair Value, released | $ / shares 2.63
Weighted-Average Grant Date Fair Value, expired and forfeited | $ / shares 3.67
Weighted-Average Grant Date Fair Value, outstanding | $ / shares $ 2.97