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Stock-based Compensation - Summary Stock Options Activity (Details) - 2017 Stock Incentive Plan
$ / shares in Units, shares in Thousands, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Outstanding, Beginning Balance | shares 6,537  
Number of Shares, Granted | shares 29  
Number of Shares, Exercised | shares (1)  
Number of Shares, Forfeited | shares (301)  
Number of Shares, Outstanding, Ending Balance | shares 6,264 6,537
Number of Shares, Options exercisable at June 30, 2023 | shares 5,302  
Number of Shares, Vested or expected to vest at June 30, 2023 | shares 6,215  
Weighted-Average Exercise Price, Outstanding, Beginning Balance | $ / shares $ 7.55  
Weighted-Average Exercise Price, Granted | $ / shares 1.15  
Weighted-Average Exercise Price, Exercised | $ / shares 2.23  
Weighted-Average Exercise Price, Forfeited | $ / shares 6.23  
Weighted-Average Exercise Price, Outstanding, Ending Balance | $ / shares 7.59 $ 7.55
Weighted-Average Exercise Price, Options exercisable at June 30, 2023 | $ / shares 8.25  
Weighted-Average Exercise Price, Vested or expected to vest at June 30, 2023 | $ / shares $ 7.62  
Weighted-Average Remaining Contractual Term, Outstanding 3 years 11 months 12 days 4 years 5 months 1 day
Weighted-Average Remaining Contractual Term, Options exercisable at June 30, 2023 3 years 29 days  
Weighted-Average Remaining Contractual Term, Vested or expected to vest at June 30, 2023 3 years 10 months 28 days  
Aggregate Intrinsic Value, Outstanding | $ $ 3 $ 134
Aggregate Intrinsic Value, Vested or expected to vest at June 30, 2023 | $ $ 3