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Stock-Based Compensation (Tables)
3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock-based Compensation Expense Stock-based compensation expense included in the unaudited condensed consolidated statements of operations and comprehensive loss was as follows:
Three months ended
March 31,
20232022
Stock options$740 $911 
Restricted stock units2,623 3,032 
Total$3,363 $3,943