Stockholders’ Equity and Stock-based Compensation - Early Exercised Options (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Early exercised stock options (in shares)	0	0
Current liabilities related to shares that were subject to repurchase	$ 209,000	$ 891,000
Current portion of other liabilities
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Current liabilities related to shares that were subject to repurchase	200,000	900,000
Other noncurrent liabilities
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Non-current liabilities related to shares that were subject to repurchase	$ 0	$ 200,000