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Stock-Based Compensation - Options (Details) - Employee Stock Option - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Number of Shares      
Outstanding, beginning balance (in shares)   4,976  
Options granted (in shares)   632  
Options forfeited (in shares)   (141)  
Options cancelled (in shares)   (238)  
Options exercised (in shares) 0 0  
Outstanding, ending balance (in shares)   5,229  
Options vested and exercisable (in shares)   3,895  
Weighted Average Exercise Price per Share      
Outstanding, beginning balance (in dollars per shares)   $ 18.52  
Options granted (in dollars per share)   1.25  
Options forfeited (in dollars per shares)   17.77  
Options cancelled (in dollars per shares)   21.48  
Outstanding, end balance (in dollars per shares)   16.32  
Options vested and exercisable (in dollars per shares)   $ 18.16  
Options      
Intrinsic value, outstanding   $ 248  
Intrinsic value, exercised     $ 5,928
Intrinsic value, exercisable $ 2,628 $ 248 $ 2,628
Weighted-average grant-date fair value of options vested (in dollars per share)   $ 13.59  
Weighted average remaining contractual life, exercisable   5 years 1 month 6 days  
Weighted average remaining contractual life, outstanding   6 years  
Unrecognized compensation expense   $ 3,651  
Remaining unamortized expense period   1 year 4 months 24 days