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Stockholders' Equity - ESPP (Details) - ESPP $ in Millions | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
May 31, 2020 shares | May 31, 2019 shares | Dec. 31, 2022 USD ($) period shares | Apr. 30, 2019 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average amortization period |  |  | 9 months 18 days |
2017 Nonqualified Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of additional shares authorized (in shares) | 800,000 |  |  |
Number of shares authorized (in shares) | 6,300,000 |  |  |
Shares available for future grant |  |  | 3,000,000 |
Weighted-average amortization period |  |  | 9 months 18 days |
Maximum contribution percent |  |  | 25.00% |
Employee termination period following purchase date to receive shares subject to risk of forfeiture |  |  | 1 year |
Number of shares authorized per purchase period | 300,000 |  |  |
Shares available for issuance, additional shares (in shares) |  |  | 800,000 |
Shares issued in period |  |  | 600,000 |
Shares purchased for award |  |  | 600,000 |
Unrecognized stock-based compensation expense | $ |  |  | $ 9.3 |
Employee Stock Purchase Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum employee subscription rate |  |  | 15.00% |
Maximum number of shares employee can purchase during offering period |  |  | 2,000 |
Number of offering periods | period |  |  | 2 |
Offering period |  |  | 6 months |
Price of common stock purchased under the ESPP |  |  | 85.00% |
Number of additional shares authorized (in shares) |  | 1,300,000 |  |
Number of shares authorized (in shares) |  | 12,400,000 |  | 11,100,000
Shares available for future grant |  |  | 4,700,000 |
Shares purchased under ESPP (in shares) |  |  | 200,000 |
Unrecognized stock-based compensation expense | $ |  |  | $ 0.4 |
Weighted-average amortization period |  |  | 1 month 6 days |

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