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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares shares in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 4,008 | 3,825
Stock awards issued and outstanding |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 764 | 581
Stock options issued and outstanding |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1] | 2,046 | 2,065
Authorized for grants under the 2016 Equity Incentive Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[2] | 423 | 507
Authorized for grants under the 2016 Employee Stock Purchase Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[3] | 440 | 378
Authorized for Grants under the Inducement Plan |  |  |
Class Of Stock [Line Items] |  |  |
Common stock, reserved for future issuance | [1],[4] | 335 | 294
[1] | The table above excludes 541,000 treasury stock shares as of September 30, 2023 and December 31, 2022.
[2] | On January 1, 2023, the number of authorized shares in the 2016 Plan increased by 431,000 shares pursuant to the evergreen provisions of the 2016 Plan.
[3] | On January 1, 2023, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 100,000 sh ares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.
[4] | On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan.

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