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Stock-Based Compensation - Options (Details) - Employee Stock Option - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Number of Shares    
Outstanding, beginning balance (in shares) 4,976  
Options granted (in shares) 95  
Options forfeited (in shares) (120)  
Options cancelled (in shares) (119)  
Options exercised (in shares) 0  
Outstanding, ending balance (in shares) 4,832  
Options vested and exercisable (in shares) 3,892  
Weighted Average Exercise Price per Share    
Outstanding, beginning balance (in dollars per shares) $ 18.52  
Options granted (in dollars per share) 1.53  
Options forfeited (in dollars per shares) 18.38  
Options cancelled (in dollars per shares) 21.44  
Outstanding, end balance (in dollars per shares) 18.12  
Options vested and exercisable (in dollars per shares) $ 18.10  
Options    
Intrinsic value, outstanding $ 1,078  
Intrinsic value, exercisable $ 1,078 $ 7,903
Weighted-average grant-date fair value of options vested (in dollars per share) $ 13.52  
Weighted average remaining contractual life, exercisable 5 years 3 months 18 days  
Weighted average remaining contractual life, outstanding 5 years 10 months 24 days  
Unrecognized compensation expense $ 4,363  
Remaining unamortized expense period 1 year 6 months