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Net Loss per Share (Tables)
12 Months Ended
Dec. 31, 2023
Earnings Per Share [Abstract]  
Shares Not Included in Computation of Diluted Net Loss Per Share
The following shares were not considered in the computation of diluted net loss per share because their effect was anti-dilutive (in thousands):
 Year Ended December 31,
 202320222021
Shares issuable under the Equity Incentive Plans and ESPP(1)
9,028 7,442 5,215 
(1) Included 568,224 of anti-dilutive potential common shares from ESPP for the year ended December 31, 2023.