Stockholders' Equity, Stock Plans and Stock-based Compensation Expense - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares Available For Grant
Balance (in shares)	1,070,925	947,347	1,085,170
Additional shares reserved (in shares)	3,800,000	600,000	450,000
Options granted (in shares)		(296,238)	(172,139)
Options cancelled (expired or forfeited) (in shares)	288,536	29,518	30,173
Stock awards granted (in shares)	(2,144,988)	(374,274)	(744,949)
Stock awards canceled (expired or forfeited) (in shares)	540,064	164,572	299,092
Balance (in shares)	3,554,537	1,070,925	947,347	1,085,170
Number of Shares
Balance (in shares)	513,935	287,175	217,007
Options granted (in shares)	1,099,075	296,238	172,139
Options exercised (in shares)	(42,234)	(39,960)	(71,798)
Options cancelled (expired or forfeited) (in shares)	(288,536)	(29,518)	(30,173)
Balance (in shares)	1,282,240	513,935	287,175	217,007
Exercisable (in shares)	190,997
Vested and expected to vest (in shares)	1,180,944
Weighted- Average Exercise Price
Balance (in dollars per share)	$ 34.41	$ 25.89	$ 22.35
Options granted (in dollars per share)	13.10	40.95	30.71
Options exercised (in dollars per share)	14.50	21.28	22.02
Options cancelled (expired or forfeited) (in dollars per share)	29.21	34.91	37.14
Balance (in dollars per share)	17.97	$ 34.41	$ 25.89	$ 22.35
Exercisable (in dollars per share)	36.39
Vested and expected to vest (in dollars per share)	$ 18.37
Weighted-Average Remaining Contractual Life
Balance	8 years 2 months 15 days	6 years 7 months 17 days	4 years 11 months 1 day	3 years 9 months
Exercisable	3 years 4 months 9 days
Vested and expected to vest	8 years 1 month 9 days
Aggregate Intrinsic Value
Balance	$ 0	$ 5,990	$ 4,460	$ 1,470
Exercisable	0
Vested and expected to vest	$ 0
Additional Disclosures
Share price (in dollars per share)	$ 3.53	$ 44.22	$ 41.32	$ 24.11