Equity Incentive and Other Plans - Schedule of Stock-Based Compensation Expense Related to ESPP (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
ESPP expense (included in stock-based compensation)	$ 424	$ 997	$ 1,629	$ 2,235
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
ESPP expense (included in stock-based compensation)	$ 3	$ 11	$ 17	$ 78