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Equity - Equity Incentive Plan (Details) - shares shares in Thousands	3 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Equity Incentive Plan
Share-based compensation
Outstanding options and restricted stock units	3,617	3,430
Reserved but unissued shares under the Plan	1,829	2,302
Total authorized shares under the Plan	5,446	5,732
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
Increase in share reserve	66

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