Stockholders' Equity - Summary of Activity under Employee Stock Purchase Plan (Details) - Employee stock purchase plan - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Summary of the Employee Stock Purchase Plan activity
Outstanding and exercisable, beginning of period (in shares)	183,426	427,802	340,976	348,514
Granted (in shares)	0	0	0	255,960
Exercised (in shares)	(1,687)	(1,965)	(4,817)	(12,518)
Forfeited (in shares)	(2,370)	(20,303)	(23,791)	(45,789)
Expired (in shares)	0	0	(132,999)	(140,633)
Outstanding and exercisable, end of period (in shares)	179,369	405,534	179,369	405,534