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Palms can't be pruned back if they overgrow their spot. They have a high central growing point. The stems you cut partway could be removed at the base. That might improve its look.

Most of their problems are due to under or overwatering or insects. It does look like it's underwatered. Check the foliage well for scale or mites. They are very susceptible to mites. Foliage will turn yellow or speckled.

Do you fertilize? Use a fertilizer for palms and follow the instructions on the package. Make sure it contains micronutrients.

https://www.gardeningknowhow.com/houseplants/bamboo-palm/grow-bamboo-palm-indoors.htm