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Stock-based Compensation - Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Outstanding, beginning of period (in shares) 4,250 2,935 3,385
Granted (in shares) 2,046 2,000 286
Exercised (in shares) (283) (410) (664)
Forfeited/Expired (in shares) (839) (275) (72)
Outstanding, end of period (in shares) 5,174 4,250 2,935
Options exercisable (in shares) 2,231    
Options vested and expected to vest (in shares) 4,748    
Weighted Average Exercise Price Per Share      
Outstanding, beginning of period (in dollars per share) $ 8.88 $ 8.90 $ 7.19
Granted (in dollars per share) 5.23 8.90 26.85
Exercised (in dollars per share) 1.97 2.33 6.96
Forfeited/Expired (in dollars per share) 12.08 19.01 17.99
Outstanding, end of period (in dollars per share) 7.31 $ 8.88 $ 8.90
Options exercisable (in dollars per share) 8.61    
Options vested and expected to vest (in dollars per share) $ 7.42    
Additional Disclosures      
Weighted average remaining contractual terms 6 years 8 months 12 days    
Weighted average remaining contractual terms, exercisable options 3 years 7 months 6 days    
Weighted average remaining contractual terms, vested and expected to vest options 6 years 4 months 24 days    
Aggregate intrinsic value, outstanding $ 198    
Aggregate intrinsic value, exercisable options 79    
Aggregate intrinsic value, options vested and expected to vest $ 170