Equity and Equity Compensation Plans - Summary of Common Stock Reserve for Future Issuance Under ESPP (Details) - 2017 Employee Stock Purchase Plan - shares	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for issuance at beginning of period (in shares)	4,695,361	5,865,467
Shares issued during period (in shares)	(1,491,040)	(1,170,106)
Total common stock reserved for future issuance (in shares)	3,204,321	4,695,361