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Share-Based Compensation - Equity Incentive Plan & ESPP (Details)
3 Months Ended 9 Months Ended
Jan. 01, 2023
shares
Jan. 01, 2022
shares
Feb. 28, 2020
USD ($)
shares
Sep. 30, 2023
USD ($)
shares
Sep. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
plan
shares
Sep. 30, 2022
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of equity incentive plans | plan           3  
Number of shares purchased     4,000        
Share-based compensation expense | $       $ 2,824,000 $ 2,862,000 $ 9,351,000 $ 15,477,000
Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares authorized       13,101,661   13,101,661  
Shares available for future grant       7,644,421   7,644,421  
Period till which there is automatic increase in rights granted under the Plan           10 years  
Percent of the total number of shares of the Company's common stock outstanding           5.00%  
Term of award           10 years  
Vesting period           4 years  
Additional number of common shares reserved for future issuance 2,730,735 2,712,249          
Equity Inducement Plan 2021              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares authorized       2,500,000   2,500,000  
Shares available for future grant       1,006,655   1,006,655  
Term of award           10 years  
Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Shares authorized 1,981,766   1,981,766        
Shares available for future grant       1,565,821   1,565,821  
Additional number of common shares reserved for future issuance 546,147            
Period till which there is automatic increase in rights granted under ESPP     10 years        
Percentage of common stock outstanding     1.00%        
Percentage of stock purchase price     85.00%        
Percentage of maximum employee contribution     15.00%        
Maximum amount of common stock that can be purchased | $     $ 25,000        
Share-based compensation expense | $           $ 0 $ 200,000