Stock-Based Compensation - Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2024 $ / shares shares
Number of shares
Balance at beginning of period | shares	2,162,453
Granted | shares	219,600
Exercised | shares	(37,219)
Canceled/forfeited | shares	(63,521)
Balance at end of period | shares	2,281,313
Vested and expected to vest at end of period | shares	2,235,434
Exercisable at end of period | shares	1,606,505
Weighted average exercise price per share
Balance at beginning of period (in dollars per share) | $ / shares	$ 11.48
Granted ( in dollars per share) | $ / shares	7.07
Exercised (in dollars per share) | $ / shares	5.92
Canceled/forfeited (in dollars per share) | $ / shares	12.69
Balance at end of period (in dollars per share) | $ / shares	11.11
Vested and expected to vest at end of period (in dollars per share) | $ / shares	11.15
Exercisable at end of period (in dollars per share) | $ / shares	$ 11.58
Weighted average remaining contractual term (years)
Weighted average remaining contractual term, outstanding	6 years 7 months 6 days
Weighted average remaining contractual term, Vested and expected to vest	6 years 6 months 18 days
Weighted average remaining contractual term, Exercisable	5 years 8 months 12 days