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Stock-Based Compensation - Schedule of Share-based Payment Arrangement, Option, Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Nov. 19, 2018
Mar. 31, 2024
Dec. 31, 2023
Number of Options      
Outstanding, beginning balance (in shares)   13,249,983  
Granted (in shares)   0  
Exercised (in shares) (220,000) (25,000)  
Forfeited (in shares)   (62,389)  
Cancelled (in shares)   (228,719)  
Outstanding, ending balance (in shares)   12,933,875 13,249,983
Vested and exercisable at end of period (in shares)   8,668,272  
Weighted-Average Exercise Price      
Outstanding, beginning balance (in dollars per share)   $ 3.60  
Granted (in dollars per share)   0  
Exercised (in dollars per share)   1.27  
Forfeited (in dollars per share)   4.38  
Cancelled (in dollars per share)   3.85  
Outstanding, ending balance (in dollars per share)   3.60 $ 3.60
Vested and exercisable at end of period (in dollars per share)   $ 4.10  
Weighted-Average Remaining Contractual Term (in years)      
Outstanding   6 years 2 months 1 day 6 years 6 months
Vested and exercisable at end of period (in years)   4 years 11 months 26 days  
Aggregate Intrinsic Value (in thousands)      
Outstanding, beginning of period   $ 927  
Outstanding, end of period   499 $ 927
Vested and exercisable at end of period   $ 499