Stock-based Compensation - Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based Compensation
Number of common stock options granted	1,053,888
Total intrinsic value of stock options exercised	$ 9,225
Employees stock purchase plan
Stock-based Compensation
Grant cliff vesting period	1 year
Employees stock purchase plan | Minimum
Stock-based Compensation
Vesting period of stock option awards	1 year
Employees stock purchase plan | Maximum
Stock-based Compensation
Vesting period of stock option awards	4 years
2017 Equity Incentive Plan
Stock-based Compensation
Number of common stock options granted	842,528	1,929,345	1,678,230
Weighted average grant date fair value relating to outstanding stock options	$ 17.72	$ 4.14	$ 15.69
2022 Employment Inducement Plan
Stock-based Compensation
Vesting period of stock option awards	4 years
Number of common stock options granted	229,360	347,985	0
Weighted average grant date fair value relating to outstanding stock options	$ 15.30	$ 13.05	$ 0