XML 74 R45.htm IDEA: XBRL DOCUMENT v3.24.0.1
Stock Plans - Summary of Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Number of shares, beginning balance (in shares) 3,446,583 3,038,970  
Granted (in shares) 695,225 690,218  
Exercised (in shares) (889,968) (157,447)  
Canceled (in shares) (663,075) (125,158)  
Number of shares, ending balance (in shares) 2,588,765 3,446,583 3,038,970
Vested and exercisable (in shares) 1,623,869    
Vested and expected to vest (in shares) 2,588,765    
Weighted-Average Exercise Price      
Beginning balance (in dollars per share) $ 3.61 $ 2.61  
Granted (in dollar per share) 3.85 7.83  
Exercised (in dollar per share) 0.17 0.03  
Canceled (in dollar per share) 5.00 6.99  
Ending balance (in dollars per share) 4.51 $ 3.61 $ 2.61
Vested and exercisable (in dollars per share) 4.22    
Vested and expected to vest (in dollars per share) $ 4.51    
Weighted Average Remaining Contractual Term (in Years)      
Balance 7 years 2 months 1 day 8 years 21 days 8 years 9 months 29 days
Vested and exercisable 6 years 3 months 10 days    
Vested and expected to vest 7 years 2 months 1 day