Equity Incentive Plans - Unrecognized Stock-Based Compensation (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($)
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 19,960
Average Remaining Vesting Period (Years)	2 years 9 months
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 10,579
Average Remaining Vesting Period (Years)	3 years 10 days
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 154
Average Remaining Vesting Period (Years)	2 months 12 days