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Stockholders' Equity - Equity Plans (Details) | 12 Months Ended |  |  |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2023 USD ($) shares | Jun. 30, 2023 shares | Dec. 31, 2022 shares | Sep. 30, 2022 shares | Jun. 30, 2021 shares | Jun. 30, 2020 shares | Jun. 30, 2018 shares | May 31, 2017 shares | Jan. 01, 2013 offering_period shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized for issuance |  |  |  | 333,333 |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting terms (in years) | 4 years |  |  |  |  |  |  |  |
2018 Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized for issuance |  |  |  |  | 400,000 | 166,667 | 400,000 |  |
Number of shares available for future grant | 593,141 |  | 578,097 |  |  |  |  |  |
2018 Plan | Stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Vesting terms (in years) | 3 years |  |  |  |  |  |  |  |
2018 Plan | Stock options | Share-based award tranche one |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expiration period (in years) | 2 years |  |  |  |  |  |  |  |
2018 Plan | Stock options | Share-based award tranche two |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expiration period (in years) | 3 years |  |  |  |  |  |  |  |
2018 Plan | Stock options | Share-based award tranche three |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expiration period (in years) | 10 years |  |  |  |  |  |  |  |
2012 ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized for issuance |  |  |  |  |  |  |  |  | 3,333
ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of offering periods | offering_period |  |  |  |  |  |  |  |  | 2
Term of offering period | 6 months |  |  |  |  |  |  |  |
Maximum annual contribution per employee as percent of annual salary | 15.00% |  |  |  |  |  |  |  |
Maximum annual contribution per employee | $ | $ 25,000 |  |  |  |  |  |  |  |
Purchase price measurement as percent of closing price on enrollment date | 85.00% |  |  |  |  |  |  |  |
Purchase price measurement as percent of closing price on exercise date | 85.00% |  |  |  |  |  |  |  |
2017 ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized for issuance |  |  |  |  |  |  |  | 6,667 |
Amended 2017 ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized for issuance |  | 68,333 |  |  |  |  | 33,333 |  |
Number of shares available for future grant | 21,911 |  | 9,352 |  |  |  |  |  |
Shares issued under ESPP | 22,441 |  |  |  |  |  |  |  |

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