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Stock Plan - Schedule of Stock-based Compensation Expense by Award Type (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 3,324 | $ 2,448 | $ 9,409 | $ 7,143
Stock options |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 2,644 | 2,290 | 7,414 | 6,862
Restricted stock units |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 625 | 103 | 1,832 | 103
Employee stock purchase plan |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 55 | $ 55 | $ 163 | $ 178

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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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