Stockholders' Equity - Incentive Plans (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Jan. 01, 2024	Dec. 31, 2021
Employee Stock Option
Stockholders' Equity
Options to purchase common stock (in shares)	7,164,981	5,730,219		4,738,855
Granted (in shares)	2,117,451	2,026,981
Restricted Stock Units
Stockholders' Equity
Awards outstanding (in shares)	1,271,894
2005 Plan
Stockholders' Equity
Common stock reserved for issuance (in shares)	0
2005 Plan | Employee Stock Option
Stockholders' Equity
Options to purchase common stock (in shares)	577
2014 Plan
Stockholders' Equity
Common stock reserved for issuance (in shares)	907,095		3,090,220
2014 Plan | Employee Stock Option
Stockholders' Equity
Options to purchase common stock (in shares)	4,924,969
2014 Plan | Restricted common stock
Stockholders' Equity
Awards outstanding (in shares)	0
2014 Plan | Restricted Stock Units
Stockholders' Equity
Awards outstanding (in shares)	1,257,019
Granted (in shares)	1,004,310
Outside of 2014 Plan | Employee Stock Option
Stockholders' Equity
Granted (in shares)	566,685	788,885
Outside of 2014 Plan | Restricted Stock Units
Stockholders' Equity
Granted (in shares)	2,500	39,900