Stockholders' Equity - ESPP (Details) - ESPP $ in Millions	1 Months Ended		12 Months Ended
	May 31, 2020 shares	May 31, 2019 shares	Dec. 31, 2022 USD ($) period shares	Apr. 30, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted-average amortization period			9 months 18 days
2017 Nonqualified Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of additional shares authorized (in shares)	800,000
Number of shares authorized (in shares)	6,300,000
Shares available for future grant			3,000,000
Weighted-average amortization period			9 months 18 days
Maximum contribution percent			25.00%
Employee termination period following purchase date to receive shares subject to risk of forfeiture			1 year
Number of shares authorized per purchase period	300,000
Shares available for issuance, additional shares (in shares)			800,000
Shares issued in period			600,000
Shares purchased for award			600,000
Unrecognized stock-based compensation expense | $			$ 9.3
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Maximum employee subscription rate			15.00%
Maximum number of shares employee can purchase during offering period			2,000
Number of offering periods | period			2
Offering period			6 months
Price of common stock purchased under the ESPP			85.00%
Number of additional shares authorized (in shares)		1,300,000
Number of shares authorized (in shares)		12,400,000		11,100,000
Shares available for future grant			4,700,000
Shares purchased under ESPP (in shares)			200,000
Unrecognized stock-based compensation expense | $			$ 0.4
Weighted-average amortization period			1 month 6 days