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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
shares in Thousands
Jun. 30, 2024
Dec. 31, 2022
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 4,292 4,083
Stock awards issued and outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 1,041 817
Stock options issued and outstanding    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1] 2,482 2,104
Authorized for grants under the 2016 Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[2] 69 448
Authorized for grants under the 2016 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[3] 517 540
Authorized for Grants under the Inducement Plan    
Class Of Stock [Line Items]    
Common stock, reserved for future issuance [1],[4] 183 174
[1]

(1) The table above excludes 541,000 treasury stock shares as of June 30, 2024 and December 31, 2023.

[2]

(2) On January 1, 2024, the number of authorized shares in the 2016 Plan increased by 440,000 shares pursuant to the evergreen provisions of the 2016 Plan.

[3]

(4) On January 1, 2024, the number of authorized shares in the 2016 Employee Stock Purchase Plan increased by 100,000 shares pursuant to the evergreen provisions of the 2016 Employee Stock Purchase Plan.
[4]

(3) On February 5, 2021, 300,000 shares were authorized pursuant to the terms of the Inducement Plan.