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Stock Based Compensation - Summary of Outstanding Restricted Stock Unit Activity (Details)
shares in Thousands
 6 Months Ended
Jun. 30, 2024
$ / shares
shares
Restricted Stock Unit (RSU)  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Restricted stock units, Beginning balance | shares 706
Restricted stock units, Grants | shares 484
Restricted stock units, Vested and released | shares (196)
Restricted stock units, Forfeited | shares (64)
Restricted stock units, Ending balance | shares 930
Weighted average grant date fair value, Beginning balance | $ / shares $ 6.97
Weighted average grant date fair value, Grants | $ / shares 5.14
Weighted average grant date fair value, Vested and released | $ / shares 7.83
Weighted average grant date fair value, Forfeited | $ / shares 5.77
Weighted average grant date fair value, Ending balance | $ / shares $ 5.92
Performance stock unit (PSU)  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Restricted stock units, Beginning balance | shares 110
Restricted stock units, Grants | shares 0
Restricted stock units, Vested and released | shares 0
Restricted stock units, Forfeited | shares 0
Restricted stock units, Ending balance | shares 110
Weighted average grant date fair value, Beginning balance | $ / shares $ 1.79
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 0
Weighted average grant date fair value, Ending balance | $ / shares $ 1.79