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Stockholders' Equity, Stock Plans and Stock-based Compensation Expense - Restricted Stock Units Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares        
Granted (in shares)   296,238 172,139  
Weighted-Average Grant- Date Fair Value        
Stock price (in dollars per share) $ 3.53 $ 44.22 $ 41.32 $ 24.11
RSUs        
Number of Shares        
Outstanding (in shares) 906,211 1,032,904 779,757  
Granted (in shares) 829,866 374,274 744,949  
Vested (in shares) (298,485) (340,836) (254,946)  
Forfeited (in shares) (527,730) (160,131) (236,856)  
Outstanding (in shares) 909,862 906,211 1,032,904  
Weighted-Average Grant- Date Fair Value        
Outstanding (in dollars per share) $ 40.39 $ 35.00 $ 23.96  
Granted (in dollars per share) 14.43 45.36 40.16  
Vested (in dollars per share) 35.61 29.04 22.94  
Forfeited (in dollars per share) 36.56 41.48 27.33  
Outstanding (in dollars per share) $ 20.46 $ 40.39 $ 35.00  
Vested, aggregate fair value $ 9,597 $ 15,443 $ 8,287  
Aggregate intrinsic value $ 3,212 $ 40,073 $ 42,680 $ 18,800
Stock price (in dollars per share) $ 3.53 $ 44.22 $ 41.32 $ 24.11
Grant date fair value of awards vested $ 10,600 $ 9,900 $ 5,800