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 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 1,474 $ 1,779 $ 5,704 $ 8,484
Restricted stock units and restricted stock awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 1,362 1,682 5,367 8,164
Employee Stock Purchase Plan        
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 112 $ 97 $ 337 $ 320