Equity Plan - Stock Option Activity (Details) - Employee Stock Option [Member] - USD ($)	6 Months Ended
	Jun. 30, 2024
Number of Shares
Outstanding at the beginning of the period (in shares)	2,637,356
Exercised (in shares)	(83,514)
Forfeited or expired (in shares)	(178,949)
Outstanding at the end of the period (in shares)	2,374,893
Vested or expected to vest (in shares)	2,232,399
Exercisable at the end of the period (in shares)	1,873,560
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)	$ 10.40
Exercised (in dollars per share)	5.31
Forfeited or expired (in dollars per share)	10.48
Outstanding at the end of the period (in dollars per share)	$ 10.58
Additional Information
Weighted Average Remaining Contractual Life - Outstanding at the end of the period (in years)	5 years 4 months 17 days
Weighted Average Remaining Contractual Life - Vested or expected to vest (in years)	5 years 4 months 17 days
Weighted Average Remaining Contractual Life - Exercisable at the end of the period (in years)	4 years 7 months 6 days
Aggregate Intrinsic Value - Outstanding at the end of the period (in dollars)	$ 839,424
Aggregate Intrinsic Value - Vested or expected to vest (in dollars)	789,058
Aggregate Intrinsic Value - Exercisable at the end of the period (in dollars)	$ 634,787