Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans - Components of Stock-based Compensation Expense (Details)

v3.23.2
Equity Incentive Plans - Components of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 2,845 $ 3,360 $ 6,108 $ 6,702
ESPP        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense (14) 112 95 258
Restricted Stock Awards and Founders' Common Stock Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense 2 2 4 4
Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 2,857 $ 3,246 $ 6,009 $ 6,440