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Equity Incentive Plans - Narrative (Details)
$ in Thousands
 12 Months Ended
Jan. 01, 2023
shares
Mar. 21, 2022
shares
Mar. 20, 2022
USD ($)
Jan. 01, 2018
Dec. 31, 2023
USD ($)
shares
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Proceeds from issuance of common stock | $         $ 1,800    
Stock-based compensation | $         33,205 $ 27,356 $ 15,347
Chief Executive Officer | Former Chief Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Non cash share based compensation expense | $     $ 3,200        
ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unrecognized compensation cost | $         $ 200    
Weighted average period remaining for amortization of unrecognized compensation cost (in years)         4 months 13 days    
Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period (in years)         4 years    
Award expiration period (in years)         10 years    
Unrecognized compensation cost | $         $ 31,600    
Weighted average period remaining for amortization of unrecognized compensation cost (in years)         2 years 8 months 1 day    
Options | Director              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period (in years)         1 year    
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Equivalent shares         1    
Granted (in shares) | shares         568,574    
Unrecognized compensation cost | $         $ 12,200    
Weighted average period remaining for amortization of unrecognized compensation cost (in years)         1 year 2 months 23 days    
RSUs | Chief Executive Officer | Interim President And Chief Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period (in years)         24 months    
Granted (in shares) | shares   887,043          
Stock-based compensation | $         $ 11,700 $ 9,200  
Equity Incentive Plan, 2017              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Annual increase in number of shares available for issuance       4.00%      
Capital shares reserved for future issuance, increase (in shares) | shares 1,140,527            
Shares reserved for future award grants (in shares) | shares         2,272,850    
Employee Stock Purchase Plan, 2017 | ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Annual increase in number of shares available for issuance       1.00%      
Capital shares reserved for future issuance, increase (in shares) | shares 285,131            
Shares reserved for future award grants (in shares) | shares         1,734,840    
Issued under ESPP (in shares) | shares         98,000