Commitments and Contingencies - Narrative (Details)	Jun. 30, 2017 USD ($)	Dec. 31, 2022 USD ($) ft² renewal_option	Dec. 31, 2021 USD ($)	Jan. 31, 2021 USD ($) ft² option	Dec. 31, 2020 USD ($)
Long-term Purchase Commitment [Line Items]
Area of real estate property (in square feet) | ft²		77,300
Indemnification agreement
Long-term Purchase Commitment [Line Items]
Accruals for expenses related to indemnification issues		$ 0	$ 0		$ 0
Letter of Credit | Demand deposits
Long-term Purchase Commitment [Line Items]
Debt instrument, collateral amount		$ 1,100,000	1,100,000
Term Loan
Long-term Purchase Commitment [Line Items]
Current borrowing capacity	$ 10,000,000
Revolving Credit Facility
Long-term Purchase Commitment [Line Items]
Current borrowing capacity	$ 5,000,000
Accounts receivable borrowing base percentage	80.00%
Interest rate, stated percentage	4.25%
Revolving Credit Facility | Prime Rate
Long-term Purchase Commitment [Line Items]
Basis spread on variable rate	1.00%
200-220 Penobscot
Long-term Purchase Commitment [Line Items]
Area of real estate property (in square feet) | ft²		28,200
Number of options to extend lease term | renewal_option		1
Renewal term		5 years
400 Penoscot
Long-term Purchase Commitment [Line Items]
Area of real estate property (in square feet) | ft²		37,900
501 Chesapeake
Long-term Purchase Commitment [Line Items]
Area of real estate property (in square feet) | ft²		11,200
Number of options to extend lease term | renewal_option		1
Renewal term		5 years
San Carlos
Long-term Purchase Commitment [Line Items]
Area of real estate property (in square feet) | ft²				36,593
Number of options to extend lease term | option				1
Lease term				10 years
Lease renewal term				5 years
Security deposit				$ 500,000
Headquarters Redwood City
Long-term Purchase Commitment [Line Items]
Asset retirement obligation		$ 500,000	$ 400,000