Equity Plan - Stock Option Activity (Details) - Employee Stock Option [Member]	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Number of Shares
Outstanding at the beginning of the period (in shares)	2,637,356
Exercised (in shares)	(72,882)
Forfeited or expired (in shares)	(112,482)
Outstanding at the end of the period (in shares)	2,451,992
Vested or expected to vest (in shares)	2,304,872
Exercisable at the end of the period (in shares)	1,869,398
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share) | $ / shares	$ 10.40
Exercised (in dollars per share) | $ / shares	5.29
Forfeited or expired (in dollars per share) | $ / shares	9.85
Outstanding at the end of the period (in dollars per share) | $ / shares	$ 10.58
Additional Information
Weighted Average Remaining Contractual Life - Outstanding at the end of the period (in years)	5 years 7 months 9 days
Weighted Average Remaining Contractual Life - Vested or expected to vest (in years)	5 years 7 months 9 days
Weighted Average Remaining Contractual Life - Exercisable at the end of the period (in years)	4 years 8 months 15 days
Aggregate Intrinsic Value - Outstanding at the end of the period (in dollars) | $	$ 1,086,661
Aggregate Intrinsic Value - Vested or expected to vest (in dollars) | $	1,021,461
Aggregate Intrinsic Value - Exercisable at the end of the period (in dollars) | $	$ 748,468