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Stockholders’ Equity and Stock-based Compensation - Restricted Stock Awards Activity (Details) - Restricted Stock And Restricted Stock Units
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Number of Restricted Stock  
Unvested Beginning Balance (in shares) | shares 2,298
Granted - restricted stock awards and units (in shares) | shares 1,634
Vested and converted to shares (in shares) | shares (1,268)
Forfeited (in shares) | shares (1,007)
Unvested Ending Balance (in shares) | shares 1,657
Weighted-Average Grant Date Fair Value  
Unvested Beginning Balance (in dollars per share) | $ / shares $ 9.18
Granted - restricted stock awards and units (in dollars per share) | $ / shares 1.98
Vested and converted to shares (in dollars per share) | $ / shares 10.56
Forfeited (in dollars per share) | $ / shares 4.67
Unvested Ending Balance (in dollars per share) | $ / shares $ 3.76
Restricted Stock Awards, Additional Disclosures  
Weighted-Average Remaining Vesting Life 1 year 11 months 1 day