Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 3,263 $ 3,020 $ 6,705 $ 5,685
Restricted stock units and restricted stock awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 3,177 2,891 6,482 5,359
Employee Stock Purchase Plan        
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 86 $ 129 $ 223 $ 326