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Stock Plans - Schedule of Restricted Stock Units Activity (Details) - Restricted stock units - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of Units
Beginning Balance (in shares)	1,693
Granted (in shares)	560
Vested and released (in shares)	(491)
Forfeited (in shares)	(219)
Ending Balance (in shares)	1,543	1,693
Weighted- Average Grant Date Fair Value
Beginning Balance (in USD per share)	$ 2.90
Granted (in USD per share)	0.77
Vested and released (in USD per share)	3.14
Forfeited (in USD per share)	2.07
Ending Balance (in USD per share)	$ 2.17	$ 2.90
Weighted- Average Remaining Contractual Term (in years)
Weighted- Average Remaining Contractual Term (in years)	1 year 4 months 24 days	1 year 2 months 12 days

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

+ References

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-Topic 718
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-Section 50
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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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Weighted average remaining contractual term for equity-based awards excluding options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of options vested.

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