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Equity Incentive Plans and Stock-Based Compensation - 2014 Equity Incentive Plan/ESPP (Details) - USD ($) $ in Millions | 1 Months Ended | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Oct. 31, 2018 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Intrinsic value of options exercised |  | $ 0.1 | $ 0.3 | $ 0.3 | $ 1.0
2014 Stock Incentive Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares available for future grant (in shares) |  | 3,537,527 |  | 3,537,527 |
Amended 2014 Employee Stock Purchase Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Number of shares available for future grant (in shares) |  | 653,839 |  | 653,839 |
Amended 2014 Employee Stock Purchase Plan | ESPP |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of eligible compensation | 10.00% |  |  |  |
Offering period | 6 months |  |  |  |

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