Stock-Based Compensation - Plan Details (Details)		12 Months Ended			108 Months Ended
	Jan. 01, 2022 shares	Dec. 31, 2022 period shares	Dec. 31, 2021 shares	Dec. 31, 2020 shares	Dec. 31, 2022 period shares
Stock options
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total number of shares of common stock available for issuance (in shares)		3,622,319	3,597,371	3,346,092	3,622,319
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total number of shares of common stock available for issuance (in shares)		539,392			539,392
Increase in shares of common stock available for issuance (in shares)	593,555
Awards issued under the plan (in shares)					635,449
Initial term of plan		2 years
Number of six month purchase periods | period		4			4
Purchase period		6 months
Second term of plan		2 years
ESPP | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Percentage of compensation that employees may withhold to purchase stock at a discount		1.00%			1.00%
ESPP | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Annual percentage increase in shares of common stock available for issuance		1.00%
Percentage of compensation that employees may withhold to purchase stock at a discount		15.00%			15.00%
Purchase price as percentage of stock price at the initial offering date		85.00%
Purchase price as percentage of stock price at the purchase date		85.00%
Annual increase in shares of common stock available for issuance		621,814
RSUs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Restricted stock granted (in shares)		875,330	670,700	348,288
The 2010 Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total number of shares of common stock available for issuance (in shares)		0			0
The 2013 Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total number of shares of common stock available for issuance (in shares)		14,792,799			14,792,799
Annual percentage increase in shares of common stock available for issuance		4.00%
Increase in shares of common stock available for issuance (in shares)	2,374,222
Awards issued under the plan (in shares)					14,535,306
The 2013 Plan | RSUs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Restricted stock granted (in shares)					1,999,817
The 2013 Plan | RSUs | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period		2 years
The 2013 Plan | RSUs | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period		3 years