Stock-Based Compensation - Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options
Options outstanding, beginning balance (in shares)	263,992	233,384	229,531
Granted (in shares)	186,804	118,434	57,901
Exercised (in shares)	0	(3,114)	(28,991)
Cancelled (in shares)	(63,635)	(84,712)	(25,057)
Expired (in shares)	(15,848)
Options outstanding, ending balance (in shares)	371,313	263,992	233,384
Weighted- Average Exercise Price
Options outstanding, beginning balance, weighted-average exercise price (in dollars per share)	$ 79.07	$ 97.78	$ 86.46
Granted, weighted-average exercise price (in dollars per share)	33.36	48.24	128.14
Exercised, weighted-average exercise price (in dollars per share)	0	30.58	58.78
Cancelled, weighted-average exercise price (in dollars per share)	62.44	89.32	109.31
Expired, weighted-average exercise price (in dollars per share)	55.67
Options outstanding, ending balance, weighted-average exercise price (in dollars per share)	$ 59.92	$ 79.07	$ 97.78
Additional Disclosures
Option exercisable (in shares)	116,455
Options exercisable, weighted-average exercise price (in dollars per share)	$ 90.65