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Equity Incentive and Other Plans - Restricted Stock Unit (Details) - 2021 Plan - Restricted stock units and performance stock units - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Sep. 30, 2024
Number of Shares        
Beginning balance (in shares) 275,111 326,137 209,946 209,946
Granted (in shares)   24,250 187,024  
Vested (in shares) (74,164) (73,677) (63,019)  
Forfeited (in shares) (7,945) (1,599) (7,814)  
Ending balance (in shares) 193,002 275,111 326,137 193,002
Weighted Average Grant Date Fair Value        
Beginning balance (in usd per share) $ 5.69 $ 5.77 $ 8.74 $ 8.74
Granted (in usd per share)   1.5 3.21  
Vested (in usd per share) 5.02 4.93 7.6  
Forfeited (in usd per share) 5.71 4.18 8.63  
Ending balance (in usd per share) $ 5.86 $ 5.69 $ 5.77 $ 5.86
Granted, fair value   $ 36 $ 600  
Vested, fair value $ 169 $ 161 $ 291