Stock-Based Compensation - Equity Incentive Plans (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 20, 2017	Dec. 31, 2023	Dec. 31, 2022
Stock-Based Compensation
Granted (in shares)		2,393,500	402,490
Granted (in dollars per share)		$ 2.67	$ 15.03
Stock Option
Stock-Based Compensation
Granted (in dollars per share)		$ 2.07	$ 10.84
Restricted stock units to purchase common stock
Stock-Based Compensation
Vested		$ 5,242
Unrecognized compensation costs related to RSUs granted to employees		$ 1,682
Unrecognized costs weighted-average period		1 year 1 month 6 days
2016 Plan
Stock-Based Compensation
Annual increase in authorized shares (as a percent)	4.00%
Number of options or stock awards available for grant under the Plan		1,016,023