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Equity Incentive Plans and Stock-Based Compensation - 2014 Equity Incentive Plan/ESPP (Details) - USD ($)
$ in Millions
1 Months Ended 3 Months Ended
Jun. 10, 2015
Oct. 31, 2018
Mar. 31, 2024
Mar. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Intrinsic value of options exercised     $ 0.2 $ 0.7
2014 Stock Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares available for future grant (in shares)     4,379,799  
2014 Stock Incentive Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of outstanding shares of common stock 5.00%      
Share-based Compensation Arrangement by Share-based Payment Award, Other Share Increase (Decrease) 8,000,000      
Amended 2014 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares available for future grant (in shares)     812,277  
Amended 2014 Employee Stock Purchase Plan | ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of eligible compensation   10.00%    
Offering period   6 months