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Stock Plan - Schedule of Stock-based Compensation Expense by Award Type (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 3,153 | $ 2,518 | $ 6,085 | $ 4,695
Stock options |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 2,489 | 2,460 | 4,770 | 4,573
Restricted stock units |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 610 |  | 1,207 |
Employee stock purchase plan |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 54 | $ 58 | $ 108 | $ 122

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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