Stockholders' Equity, Stock Plans and Stock-based Compensation Expense - Options Outstanding and Exercisable Price Ranges (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 3.67
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 63.62
Number outstanding (in shares)	1,282,240
Contractual life	8 years 2 months 15 days
Number exercisable (in shares)	190,997
Exercise Price Range 1
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 3.67
Number outstanding (in shares)	31,256
Contractual life	6 years 10 months 6 days
Number exercisable (in shares)	0
Exercise Price Range 2
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 11.02
Number outstanding (in shares)	735,295
Contractual life	9 years 7 months 17 days
Number exercisable (in shares)	0
Exercise Price Range 3
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 14.04
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 18.55
Number outstanding (in shares)	87,001
Contractual life	8 years 9 months 21 days
Number exercisable (in shares)	3,250
Exercise Price Range 4
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 19.44
Number outstanding (in shares)	147,455
Contractual life	9 years 1 month 24 days
Number exercisable (in shares)	0
Exercise Price Range 5
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 25.70
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 33.45
Number outstanding (in shares)	187,927
Contractual life	3 years 4 months 13 days
Number exercisable (in shares)	121,909
Exercise Price Range 6
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 36.55
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 39.30
Number outstanding (in shares)	30,881
Contractual life	1 year 2 months 12 days
Number exercisable (in shares)	30,881
Exercise Price Range 7
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 39.88
Number outstanding (in shares)	2,187
Contractual life	5 years
Number exercisable (in shares)	1,393
Exercise Price Range 8
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 41.39
Number outstanding (in shares)	21,220
Contractual life	8 years 2 months 4 days
Number exercisable (in shares)	10,168
Exercise Price Range 9
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 47.40
Number outstanding (in shares)	4,745
Contractual life	11 months 15 days
Number exercisable (in shares)	4,745
Exercise Price Range 10
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise price (in dollars per share) | $ / shares	$ 63.62
Number outstanding (in shares)	34,273
Contractual life	7 years 1 month 17 days
Number exercisable (in shares)	18,651