Stockholders’ Equity and Stock-based Compensation - 2020 Employee Stock Purchase Plan (Details) - The ESPP			1 Months Ended	12 Months Ended
	Jan. 01, 2023 shares	Jan. 01, 2022 shares	Oct. 31, 2020 period shares	Dec. 31, 2023 hour shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares reserved for future issuance (in shares)				1,601,194
Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares that may be issued (in shares)			688,000
Number of shares that may be issued, increase percentage			1.00%
Number of shares that may be issued, increase (in shares)	569,674	565,798	1,376,000
Employment eligibility, number of hours employed per week | hour				20
Exercise price per share of stock options as percent of fair market value of common stock			85.00%
Fixed contribution rate			15.00%
Employee stock purchase plan | Initial Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Offering period				27 months
Employee stock purchase plan | Subsequent Offering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Offering period			24 months
Number of offering periods | period			4