Annual report pursuant to Section 13 and 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
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-based compensation expense by type of award:      
Stock-based compensation expense $ 7,427 $ 12,283 $ 10,943
Restricted stock units and restricted stock awards      
Stock-based compensation expense by type of award:      
Stock-based compensation expense 7,037 11,748 10,229
Employee Stock Purchase Plan      
Stock-based compensation expense by type of award:      
Stock-based compensation expense $ 390 $ 535 $ 714