Equity Incentive Plans - Summary of Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	2,038
Options granted (in shares)	0
Options exercised (in Shares)	(73)
Options forfeited/canceled/expired (in shares)	(89)
Options outstanding, Ending Balance (in Shares)	1,876	2,038
Options vested and expected to vest (in Shares)	1,828
Options exercisable (in Shares)	1,466
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 16.94
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	0
Options exercised, Wtd. Avg. Exercise Price (in dollars per share)	7.2
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share)	19.58
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	17.19	$ 16.94
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	17.43
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 19.82
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	5 years 3 months 21 days	5 years 5 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	5 years 2 months 19 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 5 months 23 days
Options outstanding, Ending Balance, Average Intrinsic Value	$ 4,531	$ 2,558
Options vested and expected to vest at March 31, 2024	4,239
Options exercisable at March 31, 2024	$ 2,301