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Equity Incentive Plans and Stock-Based Compensation - Schedule of Restricted Stock Activity (Details) - Restricted stock units
9 Months Ended
Sep. 30, 2024
$ / shares
shares
Restricted Stock Units  
Outstanding and unvested, beginning balance (in shares) | shares 874,748
Granted (in shares) | shares 599,011
Released (in shares) | shares (425,979)
Forfeited (in shares) | shares (96,653)
Outstanding and unvested, ending balance (in shares) | shares 951,127
Weighted Average Grant Date Fair Value  
Unvested and outstanding, beginning balance (USD per share) | $ / shares $ 29.85
Granted (USD per share) | $ / shares 17.39
Released (USD per share) | $ / shares 25.93
Forfeited (USD per share) | $ / shares 24.99
Unvested and outstanding, ending balance (USD per share) | $ / shares $ 24.25