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Stockholders' Equity - Reserved Shares of Common Stock for Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 7,890,025 7,494,255
Stock options issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 86,631 97,480
Nonvested restricted stock units issued and outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 4,725,103 5,066,159
Stock-based awards available for grant under the 2017 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 3,078,291 2,330,616