Stock Plans - Available for Grant (Details) - 2021 Plan - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Shares Available for Grant
Shares available for grant, beginning balance (in shares)	1,443,946	2,132,750
Authorized (in shares)	1,252,287	1,222,649
Granted/Awarded (in shares)	(2,758,399)	(2,260,197)
Canceled (in shares)	1,322,669	340,308
Withheld for taxes (in shares)	53,999	8,436
Shares available for grant, ending balance (in shares)	1,314,502	1,443,946