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Stock-based Compensation - Company's Stock Option Activity (Details) - 2013 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
Jan. 31, 2022
Mar. 31, 2024
Dec. 31, 2023
OUTSTANDING OPTIONS      
Outstanding at beginning of period   8,273,800  
Options granted   3,094,500  
Options exercised   (2,800)  
Options forfeited   (597,642)  
Outstanding at end of period   10,767,858 8,273,800
WEIGHTED-AVERAGE EXERCISE PRICE      
Outstanding at beginning of period   $ 5.29  
Options granted   3.10  
Options exercised   1.75  
Options forfeited   8.21  
Outstanding at end of period   $ 4.50 $ 5.29
VESTED AND EXPECTED TO VEST      
Outstanding options   10,615,958  
Weighted-Average Exercise Price   $ 4.55  
Weighted-Average Remaining Contractual Term   7 years 7 months 6 days  
Aggregate Intrinsic Value (in thousands)   $ 3,756  
ADDITIONAL DISCLOSURES      
Outstanding options exercisable at end of period   5,118,477  
Weighted-average exercise price exercisable at end of period   $ 6.52  
Weighted-average contractual term outstanding   7 years 6 months 6 years 3 months 18 days
Weighted-average contractual term (years) exercisable   5 years 3 months 18 days  
Aggregate intrinsic value (in thousands) outstanding at end of period   $ 4,028  
Aggregate intrinsic value (in thousands) exercisable at end of period   $ 1,758  
Employees | Stock options vesting based on performance      
OUTSTANDING OPTIONS      
Options granted 151,900    
Newly hired employees | Stock options vesting based on performance      
OUTSTANDING OPTIONS      
Options granted   584,200