Stockholders' Equity, Stock-based Valuation Information (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Employee Stock Options [Member]
Weighted-Average Assumptions [Abstract]
Risk-free interest rate	2.10%	0.60%	1.50%
Dividend yield	0.00%	0.00%	0.00%
Volatility	54.50%	54.00%	58.60%
Expected life	6 years 3 months 18 days	4 years 10 months 24 days	4 years 8 months 12 days
Employee Stock Options [Member] \| 2011 Equity Incentive Plan [Member]
Weighted-Average Assumptions [Abstract]
Award term	7 years
Employee Stock Options [Member] \| 2011 Equity Incentive Plan [Member] \| Issued after December 31, 2021 [Member]
Weighted-Average Assumptions [Abstract]
Award term	10 years
Employee Stock Options [Member] \| 2020 Equity Incentive Plan [Member]
Weighted-Average Assumptions [Abstract]
Award term	7 years
Employee Stock Options [Member] \| 2020 Equity Incentive Plan [Member] \| Issued after December 31, 2021 [Member]
Weighted-Average Assumptions [Abstract]
Award term	10 years
Board of Director Stock Options [Member]
Weighted-Average Assumptions [Abstract]
Risk-free interest rate	2.90%	1.20%	0.50%
Dividend yield	0.00%	0.00%	0.00%
Volatility	56.20%	55.90%	57.60%
Expected life	7 years 4 months 24 days	7 years 3 months 18 days	6 years 8 months 12 days
ESPP [Member]
Weighted-Average Assumptions [Abstract]
Risk-free interest rate	1.20%	0.10%	0.80%
Dividend yield	0.00%	0.00%	0.00%
Volatility	50.10%	42.40%	47.90%
Expected life	6 months	6 months	6 months

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- Definition

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(iii)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(iv)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

Rate of weighted-average expected volatility for award under share-based payment arrangement.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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- Definition

Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
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-Topic 718
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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
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-Subparagraph (f)(2)(i)
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