Stockholders' Equity, Stock-based Valuation Information (Details)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Stock Options [Member]
Weighted-Average Assumptions [Abstract]
Risk-free interest rate	3.80%	2.10%	0.60%
Dividend yield	0.00%	0.00%	0.00%
Volatility	46.80%	54.50%	54.00%
Expected life	6 years 3 months 18 days	6 years 3 months 18 days	4 years 10 months 24 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	3.80%	2.90%	1.20%
Dividend yield	0.00%	0.00%	0.00%
Volatility	52.70%	56.20%	55.90%
Expected life	7 years 8 months 12 days	7 years 4 months 24 days	7 years 3 months 18 days
ESPP [Member]
Weighted-Average Assumptions [Abstract]
Risk-free interest rate	5.30%	1.20%	0.10%
Dividend yield	0.00%	0.00%	0.00%
Volatility	36.00%	50.10%	42.40%
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
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(iii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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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
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(iv)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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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
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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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
-Topic 718
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-Name Accounting Standards Codification
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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
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-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(i)
-Publisher FASB
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