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Equity - Equity Incentive Plan (Details) - shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Equity Incentive Plan    
Share-based compensation    
Outstanding options and restricted stock units 3,430 3,202
Reserved but unissued shares under the Plan 2,302 2,777
Total authorized shares under the Plan 5,732 5,979
Increases in the number of authorized shares 400  
2021 Plan    
Share-based compensation    
Maximum number of shares that may be issued as a proportion of outstanding stock 10.00%  
Maximum increase in number of shares available for issuance 400