Equity Plan - Stock Option Activity (Details) - Employee Stock Option [Member] - USD ($)	9 Months Ended
	Sep. 30, 2024
Number of Shares
Outstanding at the beginning of the period (in shares)	2,637,356
Exercised (in shares)	(88,764)
Forfeited or expired (in shares)	(222,399)
Outstanding at the end of the period (in shares)	2,326,193
Vested or expected to vest (in shares)	2,186,621
Exercisable at the end of the period (in shares)	1,898,485
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)	$ 10.40
Exercised (in dollars per share)	5.39
Forfeited or expired (in dollars per share)	10.58
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 25 days
Weighted Average Remaining Contractual Life - Vested or expected to vest (in years)	5 years 25 days
Weighted Average Remaining Contractual Life - Exercisable at the end of the period (in years)	4 years 4 months 20 days
Aggregate Intrinsic Value - Outstanding at the end of the period (in dollars)	$ 1,867,043
Aggregate Intrinsic Value - Vested or expected to vest (in dollars)	1,755,020
Aggregate Intrinsic Value - Exercisable at the end of the period (in dollars)	$ 1,328,659