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Stockholders' Equity - Summary Information about Stock Option Activity (Details) - Restricted stock units
shares in Thousands
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
RSUs Outstanding  
Restricted shares, beginning balance (in shares) | shares 702
Restricted shares, granted (in shares) | shares 279
Restricted shares, released (in shares) | shares (256)
Restricted shares, canceled/forfeited (in shares) | shares (16)
Restricted shares, ending balance (in shares) | shares 709
Vested and expected to vest shares (in shares) | shares 712
Weighted-Average Grant Date Fair Value  
Weighted average grant date fair value, beginning balance (in dollars per share) | $ / shares $ 2.95
Weighted average grant date fair value, granted (in dollars per share) | $ / shares 4.03
Weighted average grant date fair value, released (in dollars per share) | $ / shares 2.71
Weighted average grant date fair value, canceled/forfeited (in dollars per share) | $ / shares 3.38
Weighted average grant date fair value, ending balance (in dollars per share) | $ / shares 3.46
Weighted average grant date fair value, vested and expected to vest (in dollars per share) | $ / shares $ 3,460