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Stock Plans - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Number of Shares      
Number of shares, beginning balance (in shares) 2,588,765 3,446,583  
Granted (in shares) 510,654 695,225  
Exercised (in shares) (556,718) (889,968)  
Canceled (in shares) (174,493) (663,075)  
Number of shares, ending balance (in shares) 2,368,208 2,588,765 3,446,583
Vested and exercisable (in shares) 1,568,345    
Vested and expected to vest (in shares) 2,368,208    
Weighted-Average Exercise Price      
Beginning balance (in dollars per share) $ 4.51 $ 3.61  
Granted (in dollar per share) 12.04 3.85  
Exercised (in dollar per share) 1.45 0.17  
Canceled (in dollar per share) 15.89 5.00  
Ending balance (in dollars per share) 6.01 $ 4.51 $ 3.61
Vested and exercisable (in dollars per share) 4.51    
Vested and expected to vest (in dollars per share) $ 6.01    
Weighted Average Remaining Contractual Term (in Years)      
Balance 7 years 3 months 7 days 7 years 2 months 1 day 8 years 21 days
Vested and exercisable 6 years 5 months 26 days    
Vested and expected to vest 7 years 3 months 7 days