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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Number of Options  
Outstanding at beginning of period (in shares) | shares 782
Granted (in shares) | shares 236
Exercised (in shares) | shares 0
Forfeited/canceled/expired (in shares) | shares (93)
Outstanding at end of period (in shares) | shares 925
Vested and expected to vest at end of period (in shares) | shares 925
Exercisable at end of period (in shares) | shares 604
Weighted-Average Exercise Price  
Outstanding at beginning of period (in dollars per share) | $ / shares $ 44.16
Granted (in dollars per share) | $ / shares 24.77
Exercised (in dollars per share) | $ / shares 0
Forfeited/canceled/expired (in dollars per share) | $ / shares 51.39
Outstanding at end of period (in dollars per share) | $ / shares 38.49
Vested and expected to vest at end of period (in dollars per share) | $ / shares 38.49
Exercisable at end of period (in dollars per share) | $ / shares $ 44.06
Weighted-Average Remaining Contractual Term (in years)  
Outstanding at end of period 3 years 11 months 23 days
Vested and expected to vest at end of period 3 years 11 months 23 days
Exercisable at end of period 2 years 9 months 18 days
Aggregate Intrinsic Value  
Exercised | $ $ 0
Outstanding at end of period | $ 0
Vested and expected to vest at end of period | $ 0
Exercisable at end of period | $ $ 0