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Equity Incentive Plans and Stock-Based Compensation - Schedule of Restricted Stock Activity (Details) - Restricted stock units
6 Months Ended
Jun. 30, 2024
$ / shares
shares
Restricted Stock Units  
Outstanding and unvested, beginning balance (in shares) | shares 874,748
Granted (in shares) | shares 594,336
Released (in shares) | shares (210,085)
Forfeited (in shares) | shares (78,253)
Outstanding and unvested, ending balance (in shares) | shares 1,180,746
Weighted Average Grant Date Fair Value  
Unvested and outstanding, beginning balance (USD per share) | $ / shares $ 29.85
Granted (USD per share) | $ / shares 17.44
Released (USD per share) | $ / shares 34.65
Forfeited (USD per share) | $ / shares 26.37
Unvested and outstanding, ending balance (USD per share) | $ / shares $ 22.98