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Summary of Stock Option Activity (Details)
shares in Thousands
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
Two Thousand Ten Plan Activity [Member]  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Shares available for grant options, beginning of period
Number of options outstanding, beginning of period 607
Weighted average exercise price, options outstanding, beginning of period | $ / shares $ 4.04
Shares available for grant options exercised
Number of options outstanding, option exercised
Weighted average exercise price, options exercised | $ / shares
Shares available for grant options forfeited, cancelled and expired
Number of options outstanding, options forfeited, cancelled and expired
Weighted average exercise price, options forfeited, cancelled and expired | $ / shares
Shares available for grant outstanding, end of period
Number of options outstanding, end of period 607
Weighted average exercise price, outstanding end of period | $ / shares $ 4.04
Number of options outstanding, exercisable, end of period 607
Weighted average exercise price, exercisable, end of period | $ / shares $ 4.04
Number of options outstanding, options forfeited, cancelled and expired
2018 Paln Activity [Member]  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Shares available for grant options, beginning of period 8,832
Number of options outstanding, beginning of period 8,560
Weighted average exercise price, options outstanding, beginning of period | $ / shares $ 2.96
Number of options outstanding, option exercised
Weighted average exercise price, options exercised | $ / shares
Number of options outstanding, options forfeited, cancelled and expired 1,650
Weighted average exercise price, options forfeited, cancelled and expired | $ / shares
Shares available for grant outstanding, end of period 7,703
Number of options outstanding, end of period 9,690
Weighted average exercise price, outstanding end of period | $ / shares $ 2.14
Number of options outstanding, exercisable, end of period 3,969
Weighted average exercise price, exercisable, end of period | $ / shares $ 5.33
Number of RSUs Outstanding, beginning of period 441
Shares available for grant options RSUs vested
Number of options outstanding, option RSUs vested
Number of RSUs Outstanding, option RSUs vested (214)
Weighted average exercise price, options exercised | $ / shares
Shares available for grant options RSUs granted
Number of options outstanding, option RSUs granted
Number of RSUs Outstanding, option RSUs granted
Weighted average exercise price, option RSUs granted | $ / shares
Shares available for grant options performance RSUs granted
Number of options outstanding, option performance RSUs granted
Number of RSUs Outstanding, option performance RSUs granted
Weighted average exercise price, option RSUs Vested | $ / shares
Shares available for grant options performance RSUs vested
Number of options outstanding, option performance RSUs Vested
Number of RSUs Outstanding, option performance RSUs vested
Shares available for grant options granted (2,779)
Number of options outstanding, option granted 2,779
Number of RSUs Outstanding, option granted
Weighted average exercise price, option granted | $ / shares $ 0.44
Shares available for grant options exercised
Number of RSUs Outstanding, options exercised
Shares available for grant options forfeited, cancelled and expired 1,650
Number of options outstanding, options forfeited, cancelled and expired (1,650)
Number of RSUs Outstanding, options exercised
Shares available for grant RSUs, cancelled and expired
Number of options outstanding, options forfeited, RSUs cancelled and expired
Number of RSUs Outstanding, options forfeited, canceled and expired
Weighted average exercise price, options forfeited, RSUs cancelled and expired | $ / shares
Number of RSUs Outstanding, end of period 227