Stockholders' Equity, Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Common Stock Sales [Abstract]
Common stock options outstanding (in shares)	9,692,516	9,107,467
RSUs outstanding (in shares)	200,900	287,916
Common stock reserved for future equity grants (in shares)	2,651,449	1,700,947
Total common stock reserved for future issuance (in shares)	12,544,865	11,096,330