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Stock-based Compensation - Summary of RSU Activity (Details) - 2013 Plan [Member] - RSUs [Member]
shares in Thousands
3 Months Ended
Mar. 31, 2024
$ / shares
shares
Number of Shares  
Granted and unvested at beginning of period | shares 288
RSUs vested | shares (50)
RSUs cancelled and withheld to cover taxes | shares (35)
Granted and unvested at end of period | shares 203
Weighted Average Grant Date Fair Value Per Unit  
Granted and unvested at beginning of period | $ / shares $ 8.88
RSUs vested | $ / shares 7.5
RSUs cancelled and withheld to cover taxes | $ / shares 7.57
Granted and unvested at end of period | $ / shares $ 9.48