Stock-based Compensation (Details Textual) $ / shares in Units, shares in Thousands, $ in Thousands	6 Months Ended
Jun. 30, 2024 USD ($) plan $ / shares shares	Jun. 30, 2023 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of plans \| plan	3
Employee stock purchase plan sales, net (in shares) \| shares	251	176
Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total unrecognized compensation expense related to non-vested stock options and RSU awards	$ 54,665
Weighted-average term to recognize non-vested stock options and RSU awards	1 year 4 months 24 days
Incentive Plan \| Unvested restricted stock unit awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) \| $ / shares	$ 5.80	$ 9.18
Total unrecognized compensation expense related to non-vested stock options and RSU awards	$ 29,926
Weighted-average term to recognize non-vested stock options and RSU awards	1 year 7 months 6 days
Inducement Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total unrecognized compensation expense related to non-vested stock options and RSU awards	$ 11,075
Weighted-average term to recognize non-vested stock options and RSU awards	1 year 4 months 24 days
Inducement Plan \| Unvested restricted stock unit awards
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) \| $ / shares	$ 5.36	$ 8.84
Total unrecognized compensation expense related to non-vested stock options and RSU awards	$ 5,314
Weighted-average term to recognize non-vested stock options and RSU awards	1 year 8 months 12 days
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares of common stock authorized to be purchased (in shares) \| shares	7,975
Number of common stock shares available for purchase (in shares) \| shares	5,203

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