Equity and Equity Compensation Plans - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Number of Options
Outstanding, beginning balance (in shares)	2,406,453
Options exercised (in shares)	(15,333)
Options canceled (in shares)	(19,010)
Outstanding, ending balance (in shares)	2,372,110
Options exercisable at period end (in shares)	2,372,110
Weighted-Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 11.14
Options exercised (in dollars per share)	6.12
Options canceled (in dollars per share)	8.61
Outstanding, ending balance (in dollars per share)	11.19
Options exercisable at period end (in dollars per share)	$ 11.19
Weighted-Average Remaining Contractual Life (Years)
Weighted average remaining contractual life outstanding	2 years 4 months 28 days	2 years 7 months 17 days
Weighted average remaining contractual life exercisable	2 years 4 months 28 days
Aggregate Intrinsic Value
Options outstanding, Aggregate intrinsic value	$ 13,343		$ 3,355
Options exercisable, Aggregate intrinsic value	$ 13,343