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Stockholders’ Equity - Schedule of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Number of shares    
Options outstanding at beginning of period (in shares) | shares 524  
Options granted (in shares) | shares 0  
Options exercised (in shares) | shares (23)  
Options forfeited and cancelled (in shares) | shares (58)  
Options outstanding at end of period (in shares) | shares 443 524
Options vested and exercisable (in shares) | shares 424  
Weighted-average exercise price per share    
Weighted-average exercise price of options outstanding at beginning of period (in dollars per share) | $ / shares $ 7.47  
Weighted-average exercise price of options granted (in dollars per share) | $ / shares 0  
Weighted-average exercise price of options exercised (in dollars per share) | $ / shares 0.80  
Weighted-average exercise price of options forfeited and cancelled (in dollars per share) | $ / shares 8.60  
Weighted-average exercise price of options outstanding at end of period (in dollars per share) | $ / shares 7.66 $ 7.47
Weighted-average exercise price of options vested and exercisable (in dollars per share) | $ / shares $ 7.17  
Weighted-average remaining contractual life of options outstanding (in years) 4 years 1 month 20 days 4 years 5 months 26 days
Weighted-average remaining contractual life of options vested and exercisable (in years) 4 years 7 days  
Aggregate intrinsic value of options outstanding | $ $ 886 $ 1,383
Aggregate intrinsic value of options vested and exercisable | $ $ 886