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Equity Incentive and Other Plans - Restricted Stock Unit (Details) - 2021 Plan - Restricted Stock Units and Performance Stock Units - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2023
Number of Shares      
Beginning balance (in shares) 1,845 2,058 2,058
Granted (in shares)   631  
Vested (in shares) (524) (359)  
Forfeited (in shares) (331) (485)  
Ending balance (in shares) 990 1,845 990
Weighted Average Grant Date Fair Value      
Beginning balance (in usd per share) $ 0.89 $ 1.30 $ 1.30
Granted (in usd per share)   0.48  
Vested (in usd per share) 0.59 0.94  
Forfeited (in usd per share) 0.93 1.00  
Ending balance (in usd per share) $ 1.03 $ 0.89 $ 1.03
Granted, fair value   $ 305  
Vested, fair value $ 199 $ 188