Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	3 Months Ended	12 Months Ended
Mar. 31, 2024	Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]
Shares Outstanding, Beginning Balance	5,943,898
Shares, Granted	0
Shares, Exercised or Released	(48,750)
Shares, Forfeited or Expired	(100,430)
Shares Outstanding, Ending Balance	5,794,718	5,943,898
Shares, Exercisable	4,461,561
Shares, Vested and Expected To Vest	5,790,110
Weighted-Average Exercise Price, Beginning Balance	$ 10.28
Weighted-Average Exercise Price, Granted	0
Weighted-Average Exercise Price, Exercised or Released	6.11
Weighted-Average Exercise Price, Forfeited or Expired	13.79
Weighted-Average Exercise Price, Ending Balance	10.25	$ 10.28
Weighted-Average Exercise Price, Exercisable	8.79
Weighted-Average Exercise Price, Vested and Expected To Vest	$ 10.25
Weighted-Average Remaining Contractual Term (Years)	6 years 4 months 2 days	6 years 6 months 10 days
Weighted-Average Remaining Contractual Term (Years), Exercisable	5 years 11 months 15 days
Weighted-Average Remaining Contractual Term (Years), Vested and expected to vest	6 years 4 months 2 days

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest exercisable or convertible options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of share options (or share units) exercised during the current period.

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