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Stock-based Compensation - 2017 Employee Stock Purchase Plan (Details) - shares |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Jan. 01, 2023 | Jan. 01, 2022 | Jan. 01, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-based Compensation |  |  |  |  |  |
Number of common stock options granted |  |  |  | 1,053,888 |  |
Expected term |  |  |  | 6 years 1 month 9 days | 6 years 1 month 9 days | 6 years 1 month 9 days
2017 Employee Stock Purchase Plan |  |  |  |  |  |
Stock-based Compensation |  |  |  |  |  |
Common stock reserved for issuance |  |  |  | 1,323,026 |  |
Percentage increase in authorized shares under the plan |  |  |  | 1.00% |  |
Number of additional shares added | 0 | 502,835 | 0 |  |  |
Number of shares issued |  |  |  | 49,819 | 92,932 | 38,051
Purchase price of ESPP meeting certain criteria as of the offering period (as a percent) |  |  |  | 85.00% |  |
Discount recognized as compensation expense |  |  |  | 15.00% |  |

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Restrictions on equity-based instruments during the vesting period, such as the inability to transfer unvested awards, are not taken into account in estimating the fair value of the award. However, restrictions that remain in effect after an award is vested, such as the inability to transfer or hedge vested options or a prohibition on the sale of outstanding vested shares (or other type of equity) for a period of time, affect the estimate of an award's fair value. + 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)(v) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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