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Equity Incentive Plans - Time-based Restricted Stock Units (Details) - RSUs - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Restricted Stock Units    
Number of shares, beginning balance (in shares) 1,028,843  
Granted (in shares) 568,574  
Released (in shares) (68,900)  
Forfeitures and cancellations (in shares) (46,945)  
Number of shares, ending balance (in shares) 1,481,572 1,028,843
Number of shares, Restricted stock units expected to vest (in shares) 1,481,572  
Weighted-Average Grant Date Fair Value    
Weighted average grant date fair value, beginning balance (in dollars per share) $ 26.14  
Granted (in dollars per share) 22.02  
Released (in dollars per share) 23.89  
Forfeitures and cancellations (in dollars per share) 21.87  
Weighted average grant date fair value, ending balance (in dollars per share) 24.80 $ 26.14
Weighted average grant date fair value , Restricted stock units expected to vest (in dollars per share) $ 24.80  
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value    
Weighted average remaining contractual term, other than options outstanding (in years) 8 months 23 days 1 year 2 months 1 day
Weighted average remaining contractual term, other than options vested and expected to vest (in years) 8 months 23 days  
Aggregate intrinsic value, outstanding $ 31,735 $ 31,884
Aggregate intrinsic value, restricted stock units expected to vest $ 31,735