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Stock Based Compensation - Summary of Outstanding Restricted Stock Unit Activity (Details)
shares in Thousands
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
Restricted Stock Unit (RSU)  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Restricted stock units, Beginning balance | shares 444
Restricted stock units, Grants | shares 583
Restricted stock units, Vested and released | shares (284)
Restricted stock units, Forfeited | shares (91)
Restricted stock units, Ending balance | shares 652
Weighted average grant date fair value, Beginning balance | $ / shares $ 11.78
Weighted average grant date fair value, Grants | $ / shares 5.27
Weighted average grant date fair value, Vested and released | $ / shares 8.06
Weighted average grant date fair value, Forfeited | $ / shares 9.4
Weighted average grant date fair value, Ending balance | $ / shares $ 7.91
Performance stock unit (PSU)  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Restricted stock units, Beginning balance | shares 137
Restricted stock units, Grants | shares 0
Restricted stock units, Vested and released | shares 0
Restricted stock units, Forfeited | shares (23)
Restricted stock units, Ending balance | shares 114
Weighted average grant date fair value, Beginning balance | $ / shares $ 2.09
Weighted average grant date fair value, Grants | $ / shares 0
Weighted average grant date fair value, Vested and released | $ / shares 0
Weighted average grant date fair value, Forfeited | $ / shares 2.2
Weighted average grant date fair value, Ending balance | $ / shares $ 2.07