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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
shares in Thousands
Jun. 30, 2025
Dec. 31, 2024
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1] 4,331 4,189
Stock options issued and outstanding    
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1] 2,553 2,376
Stock awards issued and outstanding    
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1] 842 945
Authorized for grants under the 2016 Plan    
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1],[2] 302 164
Authorized for grants under the 2016 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1],[3] 569 494
Authorized for Grants under the Inducement Plan    
Class Of Stock [Line Items]    
Common stock, aggregate shares reserved [1] 65 210
[1]

(1) The table above excludes 541,000 treasury stock shares as of June 30, 2025 and December 31, 2024.

[2]

(2) On January 1, 2025, the number of authorized shares in the 2016 Plan increased by 461,000 shares pursuant to the evergreen provisions of the 2016 Plan.

[3]

(3) On January 1, 2025, 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.