Stock-Based Awards - Fair Value Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Assumptions Used to Determine Fair Value of Stock Options Granted to Employees and Directors Presented on a Weighted Average Basis
Risk-free interest rate	3.72%	2.10%	0.80%
Expected term (in years)	6 years	6 years	6 years
Expected volatility	77.32%	81.14%	87.65%