Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Assumptions Applied to Estimate Fair Value of Shares Issued Under ESPP (Details)

v3.24.0.1
Stockholders' Equity - Assumptions Applied to Estimate Fair Value of Shares Issued Under ESPP (Details) - Employee Stock Purchase Plan
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (years) 6 months 6 months 6 months
Risk free interest rate, Minimum 3.51% 0.07% 0.07%
Risk free interest rate, Maximum 5.36% 3.51% 0.12%
Expected dividend yield 0.00% 0.00% 0.00%
Volatility, Minimum 47.97% 47.97% 44.59%
Volatility, Maximum 71.53% 59.21% 83.92%