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Stock-Based Compensation - Stock option activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares Available for Grant |  |  |
Outstanding as of beginning of year | 3,538,268 | 216,003 |
2022 Equity incentive plan increase | 1,917,456 | 5,000,000 |
Granted | (2,190,299) | (2,272,299) |
Forfeited | 1,751,800 | 582,898 |
Expired |  | 11,666 |
2022 Equity incentive plan decrease | (4,917,862) |  |
Outstanding as of ending of year | 99,363 | 3,538,268 | 216,003
Number of Shares Outstanding |  |  |
Outstanding as of beginning of year | 10,081,915 | 8,799,415 |
Granted | 2,190,299 | 2,272,299 |
Exercised | (451,020) | (395,235) |
Forfeited | (1,751,800) | (582,898) |
Expired |  | (11,666) |
Outstanding as of ending of year | 10,069,394 | 10,081,915 | 8,799,415
Vested and exercisable | 6,717,063 |  |
Weighted Average Exercise Price |  |  |
Outstanding as of beginning of year | $ 3.11 | $ 3.07 |
Granted | 1.01 | 3.26 |
Exercised | 0.58 | 1.39 |
Forfeited | 3.42 | 4.31 |
Expired |  | 2.34 |
Outstanding as of ending of year | 2.72 | $ 3.11 | $ 3.07
Vested and exercisable as of ending of year | $ 2.34 |  |
Weighted Average Remaining Contractual Life (Years) |  |  |
Outstanding as of ending of year | 7 years 1 month 20 days | 7 years 7 months 9 days | 8 years 1 month 13 days
Vested and exercisable as of ending of year | 6 years 4 months 24 days |  |
Aggregate Intrinsic Value |  |  |
Aggregate Intrinsic Value, outstanding | $ 141 | $ 4,099 | $ 60,924
Vested and exercisable | $ 134 |  |
Closing stock price | $ 0.60 |  |
Total intrinsic value of options exercised | $ 200 | $ 1,200 |
Weighted average grant date fair value of options granted | $ 0.55 | $ 1.76 |
Fair value of the shares subject to stock options vested | $ 3,400 | $ 3,100 |
Unamortized stock-based compensation expense | $ 12,500 |  |
Vesting term (in years) | 1 year 9 months 25 days |  |

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- Definition The net total number of shares (or other type of equity) under an equity-based award plan, other than a stock option plan, that were granted, vested and forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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