Equity Award Plans - Additional Information (Details) - shares			3 Months Ended
	Jan. 01, 2023	Feb. 28, 2013	Mar. 31, 2023
2013 Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares reserved for issuance (in shares)		643,000
Percentage of increase in outstanding common shares			5.00%
2013 Equity Incentive Plan [Member] | Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in shares available for issuance (in shares)	861,000
2013 Equity Incentive Plan [Member] | March 24, 2023 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares reserved for issuance (in shares)			425,000
Description of Amended and Restated 2013 Equity Incentive Plan			Additionally, shares that cease to be subject to equity awards that have been granted under the 2006 Plan and the 2013 Plan are eligible for issuance under the Amended and Restated Plan. On January 1 of each calendar year through 2033, the number of shares of common stock reserved under the Amended and Restated Plan will automatically increase by an amount equal to 5% of the total outstanding shares as of the immediately preceding December 31, or such lesser number of shares as determined by the Board.
Percentage of increase in outstanding common shares			5.00%
2013 Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares reserved for issuance (in shares)		143,000
Increase in shares available for issuance (in shares)	100,000
Percentage of lesser of fair market value of common stock		85.00%
Percentage of increase in outstanding shares		1.00%
2013 Employee Stock Purchase Plan [Member] | Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in shares available for issuance, authorized (in shares)		100,000
2013 Employee Stock Purchase Plan [Member] | March 24, 2023 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares reserved for issuance (in shares)			432,000
Description of Amended and Restated 2013 Employee Stock Purchase Plan			On March 24, 2023, the Board approved the Amended and Restated 2013 Employee Stock Purchase Plan ("Amended and Restated ESPP") which provides for six-month purchase periods ending in May and November of each year with the purchase price for each share of common stock purchased being 85% of the lesser of the fair market value of the common stock on (1) the first trading day of the applicable offering period and (2) the last trading day of each purchase period in the applicable offering period. Under the Amended and Restated ESPP, 432 shares of common stock have been reserved for issuance.
Percentage of lesser of fair market value of common stock			85.00%