Summary of Significant Accounting Policies - Net loss per share (Details) - shares	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Shares excluded from the computation of diluted net loss per share
Potential common shares	8,804,692	8,632,792
Employee Stock Option
Shares excluded from the computation of diluted net loss per share
Potential common shares	7,029,546	6,973,369
Restricted stock units
Shares excluded from the computation of diluted net loss per share
Potential common shares	1,775,146	1,046,232
Performance stock units
Shares excluded from the computation of diluted net loss per share
Potential common shares		613,191