Stock-Based Compensation - Schedule of Option Activity (Details) - 2006 Plan and 2016 Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2024	Dec. 31, 2023
Number of Shares
Beginning balance (in shares)	4,792,506
Expired (in shares)	(16,000)
Ending balance (in shares)	4,776,506	4,792,506
Exercisable at end of period (in shares)	3,586,512
Vested and expected to vest at end of period (in shares)	4,670,652
Weighted Average Exercise Price at Grant Date
Beginning balance (in dollars per share)	$ 12.95
Expired (in dollars per share)	12.28
Ending balance (in dollars per share)	12.95	$ 12.95
Exercisable at end of period (in dollars per share)	14.05
Vested and expected to vest at end of period (in dollars per share)	$ 13.06
Weighted Average Remaining Term (Years)
Outstanding	5 years 9 months 7 days	6 years
Exercisable at end of period	4 years 10 months 20 days
Vested and expected to vest at end of period	5 years 8 months 12 days
Aggregate Intrinsic Value
Beginning balance	$ 0
Ending balance	0	$ 0
Exercisable at end of period	0
Vested and expected to vest at end of period	$ 0

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	instant

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.