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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 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2023
Number of Shares        
Beginning balance (in shares) 50 93 103 103
Granted (in shares) 181   32  
Vested (in shares) (48) (26) (18)  
Forfeited (in shares) (1) (17) (24)  
Ending balance (in shares) 182 50 93 182
Weighted Average Grant Date Fair Value        
Beginning balance (in usd per share) $ 20.69 $ 17.81 $ 25.92 $ 25.92
Granted (in usd per share) 6.2   9.65 $ 9.77
Vested (in usd per share) 7.52 11.88 18.79  
Forfeited (in usd per share) $ 9.18 18.61 20.07  
Ending balance (in usd per share)   $ 20.69 $ 17.81  
Granted, fair value $ 1,128   $ 305  
Vested, fair value $ 323 $ 199 $ 188