Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of shares
Balance at beginning of period	2,071,848	1,706,409	1,498,208
Granted	212,960	450,410	468,000
Exercised	(25,428)	(3,563)	(77,154)
Canceled/forfeited	(96,927)	(81,408)	(182,645)
Balance at end of period	2,162,453	2,071,848	1,706,409
Vested and expected to vest at end of period	2,131,840
Exercisable at end of period	1,606,779
Weighted average exercise price per share
Balance at beginning of period (in dollars per share)	$ 11.49	$ 11.88	$ 10.87
Granted ( in dollars per share)	10.50	10.24	14.80
Exercised (in dollars per share)	5.00	5.51	7.08
Canceled/forfeited (in dollars per share)	11.25	13.13	13.08
Balance at end of period (in dollars per share)	11.48	$ 11.49	$ 11.88
Vested and expected to vest at end of period (in dollars per share)	11.48
Exercisable at end of period (in dollars per share)	$ 11.50
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	6 years 3 months 3 days
Weighted average remaining contractual term, Vested and expected to vest	6 years 2 months 23 days
Weighted average remaining contractual term, Exercisable	5 years 6 months