Stock-based Compensation - Option Activity (Details) - Outstanding stock options - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	6 Months Ended
Jun. 30, 2024
Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning balance (in shares)	35,505
Options, grants in period, gross (in shares)	461
Options exercised (in shares)	(108)
Options cancelled or forfeited (in shares)	(2,029)
Options outstanding, ending balance (in shares)	33,829
Options exercisable (in shares)	20,789
Number of stock option awards vested and expected to vest (in shares)	31,313
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Weighted average exercise price, beginning balance (in usd per share)	$ 8.24
Weighted average exercise price of stock option awards granted (in usd per share)	6.30
Weighted average exercise price of stock option awards exercised (in usd per share)	3.25
Weighted average exercise price of stock option awards cancelled (in usd per share)	9.67
Weighted average exercise price, ending balance (in usd per share)	8.14
Weighted average exercise price, stock option awards, exercisable (in dollars per share)	7.86
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share)	$ 8.07
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual life	$ 257
Options, exercises in period, intrinsic value	6 years 4 months 20 days
Options outstanding, aggregate intrinsic value	$ 13,242
Options, exercisable, weighted average remaining contractual term (year)	5 years 1 month 9 days
Stock option awards vested and expected to vest, weighted average remaining contractual life (year)	$ 13,242
Options, aggregate intrinsic value	6 years 3 months 10 days
Options, exercisable, aggregate intrinsic value	$ 13,242
Inducement Plan
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning balance (in shares)	5,527
Options, grants in period, gross (in shares)	293
Options exercised (in shares)	(148)
Options cancelled or forfeited (in shares)	(488)
Options outstanding, ending balance (in shares)	5,184
Options exercisable (in shares)	2,753
Number of stock option awards vested and expected to vest (in shares)	4,708
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Weighted average exercise price, beginning balance (in usd per share)	$ 8.77
Weighted average exercise price of stock option awards granted (in usd per share)	5.40
Weighted average exercise price of stock option awards exercised (in usd per share)	3.14
Weighted average exercise price of stock option awards cancelled (in usd per share)	10.78
Weighted average exercise price, ending balance (in usd per share)	8.55
Weighted average exercise price, stock option awards, exercisable (in dollars per share)	7.22
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share)	$ 8.38
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual life	$ 320
Options, exercises in period, intrinsic value	7 years 4 months 6 days
Options outstanding, aggregate intrinsic value	$ 4,589
Options, exercisable, weighted average remaining contractual term (year)	6 years 6 months
Stock option awards vested and expected to vest, weighted average remaining contractual life (year)	$ 3,968
Options, aggregate intrinsic value	7 years 3 months 3 days
Options, exercisable, aggregate intrinsic value	$ 4,460

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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