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Stock-Based Compensation - Summary of RSU Activity (Details) - Restricted stock units
shares in Thousands
6 Months Ended
Jun. 30, 2023
$ / shares
shares
Number of Shares  
Outstanding beginning balance (in shares) | shares 1,268
Vested (in shares) | shares (511)
Forfeited (in shares) | shares (55)
Canceled (in shares) | shares 0
Outstanding ending balance (in shares) | shares 1,775
Weighted Average Grant Date Fair Value  
Outstanding beginning balance (in dollars per share) $ 10.91
Granted (in dollars per share) 9.32
Vested (in dollars per share) 10.88
Forfeited (in dollars per share) 10.49
Canceled (in dollars per share) 0
Outstanding ending balance (in dollars per share) $ 9.97