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Stock-based Compensation - Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-based Compensation |  |  |
Number of common stock options granted | 1,053,888 |  |
Total intrinsic value of stock options exercised | $ 9,225 |  |
Employees stock purchase plan |  |  |
Stock-based Compensation |  |  |
Grant cliff vesting period | 1 year |  |
Employees stock purchase plan | Minimum |  |  |
Stock-based Compensation |  |  |
Vesting period of stock option awards | 1 year |  |
Employees stock purchase plan | Maximum |  |  |
Stock-based Compensation |  |  |
Vesting period of stock option awards | 4 years |  |
2017 Equity Incentive Plan |  |  |
Stock-based Compensation |  |  |
Number of common stock options granted | 842,528 | 1,929,345 | 1,678,230
Weighted average grant date fair value relating to outstanding stock options | $ 17.72 | $ 4.14 | $ 15.69
2022 Employment Inducement Plan |  |  |
Stock-based Compensation |  |  |
Vesting period of stock option awards | 4 years |  |
Number of common stock options granted | 229,360 | 347,985 | 0
Weighted average grant date fair value relating to outstanding stock options | $ 15.30 | $ 13.05 | $ 0

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