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Stock Based Compensation - Summary of Outstanding Restricted Stock Unit Activity (Details)
shares in Thousands
 9 Months Ended
Sep. 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 653
Restricted stock units, Vested and released | shares (287)
Restricted stock units, Forfeited | shares (138)
Restricted stock units, Ending balance | shares 672
Weighted average grant date fair value, Beginning balance | $ / shares $ 11.78
Weighted average grant date fair value, Grants | $ / shares 5.16
Weighted average grant date fair value, Vested and released | $ / shares 8.17
Weighted average grant date fair value, Forfeited | $ / shares 9.28
Weighted average grant date fair value, Ending balance | $ / shares $ 7.41
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 (45)
Restricted stock units, Ending balance | shares 92
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 $ 2.03