Okudah (Achilles) took part in individual drills during Thursday's OTAs, but Lions head coach Dan Campbell said it's "hard to put a timeline" on when the cornerback will be ready for full-team activities, Chris Burke of The Athletic reports.

Williams (knee) could have "a realistic timeframe" to make his NFL debut "late September early October," Tim Twentyman of the Lions' official site reports.

Jacobs (knee) was on the field for an offseason workout May 10, according to the Lions' official site.

Joseph (hamstring) could immediately push DeShon Elliott for a starting position at safety, Tim Twentyman of the Lions' official site reports.

Mitchell (knee) expects to receive full medical clearance by June, Benjamin Raven of MLive.com reports. "I'm seven months out, seven months and some weeks," Mitchell said via Zoom. "I'm pretty much back. I'm doing everything from running, cutting, running routes. I'm expected to be fully cleared by June at the latest. I'll be ready to go by training camp. I'm excited."

Zylstra was signed to a reserve/future contract with the Falcons on Monday.

Decker (foot) was injured in the Lions' win over the Packers on Sunday.