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Stockholders' Equity - Schedule of RSU Activity Under Equity Incentive Plan (Details) - Performance-based restricted stock units
12 Months Ended
Dec. 31, 2023
shares
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Beginning balance (in shares) 212,964
Granted (in shares) 194,747
Vested (in shares) (99,420)
Cancelled (in shares) (33,497)
Ending balance (in shares) 274,794