Stock Plans and Stock-Based Compensation - Schedule of Assumptions Used in Determining Fair Value of Shares Issuable (Details) - 2016 Employee Stock Purchase Plan		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	[1]	6 months	6 months	6 months
Expected volatility, minimum	[2]	50.00%	65.00%	45.00%
Expected volatility, maximum	[2]	60.00%	70.00%	60.00%
Risk-free interest rate, minimum	[3]	5.18%	0.86%	0.05%
Risk-free interest rate, maximum	[3]	5.51%	3.33%	0.06%
Dividend rate	[4]	0.00%	0.00%	0.00%

[1] The expected term represents the contractual term of the 2016 ESPP;

[2] The expected volatility of the Company’s common stock on the date of grant is based on the weighted average of the Company’s historical volatility as a public company, the implied volatility of publicly-traded options on the Company’s common stock and the volatilities of publicly traded peer companies that are reasonably comparable to the Company’s own operations;

[3] The risk-free interest rate is based on the U.S. Treasury yield curve in effect at the time of grant for zero coupon U.S. Treasury notes with maturities approximately equal to the expected term of the grant; and

[4] The expected dividend yield is assumed to be zero as the Company has never paid dividends and has no current plans to pay any dividends on the Company’s common stock.