Shareholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	3 Months Ended		6 Months Ended
	Mar. 31, 2023	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	May 11, 2023	Dec. 31, 2022	Jul. 02, 2021	Jul. 02, 2020
Class of Stock [Line Items]
Proceeds from sale of stock	$ 155,000
Common stock, par value (USD per share)		$ 0.001		$ 0.001			$ 0.001
Proceeds from issuance of common stock from employee stock purchase plan				$ 3,328	$ 995
Employee Stock Purchase Plan, Shares Reserved for Future Issuance						750,000
Common Stock
Class of Stock [Line Items]
Issuance of common stock under equity incentive plans (shares)		85,464	51,264	379,321	205,836
Proceeds from stock options exercised		$ 500	$ 400	$ 2,200	$ 2,900
Proceeds from issuance of common stock from employee stock purchase plan				$ 3,300	$ 1,000
At the Market Facility
Class of Stock [Line Items]
Stock issued in transaction (shares)		0	0	0	0
Common stock, par value (USD per share)									$ 0.001
Aggregate offering price									$ 200,000
Excess Stock, Shares Issued		1,880,097		1,880,097
Amended and Restated At the Market Facility
Class of Stock [Line Items]
Common stock, par value (USD per share)								$ 0.001
Aggregate offering price								$ 500,000