Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares, Granted	225,000	359,054	3,467,069
Weighted-Average Exercise Price, Beginning Balance	$ 16.08	$ 14.63
Weighted-Average Exercise Price, Ending Balance	$ 18.33	$ 16.08	$ 14.63
2011 and 2021 Plans
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares Outstanding, Beginning Balance	6,538,536
Shares, Granted	225,000
Shares, Exercised or Released	(458,005)
Shares, Forfeited or Expired	(361,633)
Shares Outstanding, Ending Balance	5,943,898	6,538,536
Shares, Exercisable	4,292,558
Shares, Vested and Expected To Vest	5,938,438
Weighted-Average Exercise Price, Beginning Balance	$ 10.02
Weighted-Average Exercise Price, Granted	18.33
Weighted-Average Exercise Price, Exercised or Released	6.56
Weighted-Average Exercise Price, Forfeited or Expired	15.29
Weighted-Average Exercise Price, Ending Balance	10.28	$ 10.02
Weighted-Average Exercise Price, Exercisable	8.51
Weighted-Average Exercise Price, Vested and Expected To Vest	$ 10.27
Weighted-Average Remaining Contractual Term (Years)	6 years 6 months 10 days	7 years 4 months 9 days
Weighted-Average Remaining Contractual Term (Years), Exercisable	6 years 7 days
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest	6 years 6 months 10 days