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Stockholders' Equity and Stock-based Compensation - Equity Incentive Plan (Details) - shares shares in Thousands			12 Months Ended
	Jun. 08, 2022	Jun. 09, 2021	Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Offering period, months			6 months
Issuance of common stock through employee stock purchase plan (in shares)			60
The 2012 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Authorized annual increase (in shares)			3,050
Authorized annual increase, percentage			5.00%
Shares added to plan (in shares)			0
Additional shares available for grant (in shares)	3,072
Shares available for grant (in shares)	9,689		1,824
Vesting period, term years			4 years
Expiration period, term			10 years
The 2021 Employee Stock Purchase Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available for grant (in shares)			494
Shares authorized for issuance (in shares)		600
Offering period, months		6 months
Purchase price per stock, percentage		85.00%
The 2021 Employee Stock Purchase Plan | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Eligible compensation contributable, percentage		1.00%
The 2021 Employee Stock Purchase Plan | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Eligible compensation contributable, percentage		15.00%

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