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Stock Option Plan - Restricted Stock Units (Details) - Restricted stock units - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Outstanding, beginning of period (in shares) 1,036,208    
Awards granted (in shares) 796,400    
Awards released (in shares) (144,985)    
Awards canceled (in shares) (89,045)    
Outstanding, end of period (in shares) 1,598,578    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Outstanding, beginning of period (in dollars per share) $ 7.28    
Awards granted, Weighted-Average Grant Date Fair Value (in dollars per share) 2.42 $ 8.66  
Awards released, Weighted-Average Grant Date Fair Value (in dollars per share) 12.01    
Awards canceled, Weighted-Average Grant Date Fair Value (in dollars per share) 9.53    
Outstanding, end of period (in dollars per share) $ 4.30    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value [Abstract]      
Outstanding, Aggregate Intrinsic Value $ 4,636   $ 2,487