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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Jan. 01, 2023
Jan. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Aggregate intrinsic value of options exercised     $ 1,000 $ 8,100
Options granted (in shares)     0 0
Unrecognized compensation costs     $ 22  
Issuance of common stock related to employee stock purchase plan (in shares)     170,717 147,295
Issuance of common stock related to employee stock purchase plan     $ 1,818 $ 2,343
Stock-based compensation expense     $ 23,061 16,866
Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise price of option as percent of fair market value when individual owns more than 10% of shares outstanding (percent)     110.00%  
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of ownership of outstanding shares for alternate terms     10.00%  
Stock option term (in years)     10 years  
Stock option term when grantee holds more than 10% of shares outstanding (in years)     5 years  
Award vesting period (in years)     4 years  
Unrecognized compensation cost, expected period for recognition (in years)     6 months  
Incentive Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise price of option as percent of fair market value (percent)     100.00%  
Nonqualified Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise price of option as percent of fair market value (percent)     85.00%  
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost, expected period for recognition (in years)     2 years 6 months  
Unrecognized compensation cost     $ 33,200  
Restricted Stock Units | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period (in years)     2 years  
Restricted Stock Units | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period (in years)     4 years  
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost, expected period for recognition (in years)     2 years  
Unrecognized compensation cost     $ 1,500  
2018 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Annual increase in shares reserved as percentage of prior year-end shares outstanding (percent)     5.00%  
Shares available for future grants (in shares)     4,029,313  
2018 Equity Incentive Plan | Subsequent Event        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Increase in number of shares reserved for future issuance (in shares) 1,736,578      
2018 ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for future grants (in shares)     1,050,179  
Unrecognized compensation cost     $ 500  
Purchase price of common stock as a percent of fair market value (percent)     85.00%  
Employees stock purchase program offering period interval (in months)     6 months  
Accrued compensation and related expenses for employee payroll deductions     $ 300 300
Stock-based compensation expense     $ 700 $ 800
2018 ESPP | Subsequent Event        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Increase in number of shares reserved for future issuance (in shares) 347,315      
2018 ESPP | Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period (in years)   3 years