Stock-Based Compensation - Restricted Stock Unit Activity (Details) - $ / shares	1 Months Ended	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2022
Number of Units
Outstanding, Beginning Balance		576,544
Outstanding, Ending Balance	235,250	372,513
2014 Equity Incentive Plan [Member] | Employees And Non-Employee Members Of Board Of Directors [Member] | Restricted Stock Units [Member]
Number of Units
Outstanding, Beginning Balance		576,544
Awarded		474,193
Vested and released		(268,222)
Forfeited		(410,002)
Outstanding, Ending Balance		372,513
Weighted Average Grant Date Fair Value
Weighted-average grant date fair value, outstanding, Beginning Balance		$ 17.50
Weighted-average grant date fair value, awarded		10.10
Weighted-average grant date fair value, vested and released		16.33
Weighted-average grant date fair value, forfeited		13.62
Weighted-average grant date fair value, outstanding, Ending Balance		$ 13.20