Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of Shares
Beginning balance (in shares)	1,903,341	2,009,513
Options exercised (in shares)	(698,627)	(80,571)
Options canceled and forfeited (in shares)	(16,006)	(25,601)
Ending balance (in shares)	1,188,708	1,903,341
Options vested and exercisable (in shares)	1,188,708
Options vested and expected to vest (in shares)	1,188,708
Weighted-Average Exercise Price
Beginning balance (in dollars per share)	$ 8.82	$ 8.73
Options exercised (in dollars per share)	6.28	4.70
Options canceled and forfeited (in dollars per share)	21.22	15.05
Ending balance (in dollars per share)	10.14	$ 8.82
Options vested and exercisable (in dollars per share)	10.14
Options vested and expected to vest (in dollars per share)	$ 10.14
Weighted-Average Remaining Contractual Life and Aggregate Intrinsic Value
Weighted-average remaining contractual life, options outstanding (in years)	3 years 6 months 3 days
Weighted-average remaining contractual life, options vested and exercisable (in years)	3 years 6 months 3 days
Weighted-average remaining contractual life, options vested and expected to vest (in years)	3 years 6 months 3 days
Aggregate intrinsic value, options outstanding	$ 13,197
Aggregate intrinsic value, options vested and exercisable	13,197
Aggregate intrinsic value, options vested and expected to vest	$ 13,197