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Equity Incentive and Other Plans - Restricted Stock Unit (Details) - 2021 Plan - Restricted Stock Units and Performance Stock Units
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 209,946
Granted (in shares) | shares 187,024
Vested (in shares) | shares (63,019)
Forfeited (in shares) | shares (7,814)
Ending balance (in shares) | shares 326,137
Weighted Average Grant Date Fair Value  
Beginning balance (in usd per share) | $ / shares $ 8.74
Granted (in usd per share) | $ / shares 3.21
Vested (in usd per share) | $ / shares 7.6
Forfeited (in usd per share) | $ / shares 8.63
Ending balance (in usd per share) | $ / shares $ 5.77
Granted, fair value | $ $ 600
Vested, fair value | $ $ 291