Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Additional Information (Details)

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Stockholders' Equity - Additional Information (Details)
 12 Months Ended
Dec. 31, 2023
USD ($)
Vote
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
shares
Jun. 05, 2023
shares
Jun. 04, 2023
shares
Class Of Stock [Line Items]          
Number of voting rights per share of common stock | Vote 1        
Preferred stock, shares authorized 10,000,000        
Preferred stock, shares issued 0 0      
Preferred stock, shares outstanding 0 0      
Dividends declared | $ $ 0 $ 0 $ 0    
Total intrinsic value of options exercised | $ 735,000 309,000 14,524,000    
Total weighted average fair value of stock options granted | $ $ 0 $ 0 $ 0    
Time based restricted stock units          
Class Of Stock [Line Items]          
Vesting period 4 years        
Grants of units unvested 1,214,144 769,976 240,044    
Time based restricted stock awards          
Class Of Stock [Line Items]          
Vesting period 4 years        
Performance and time based restricted stock awards          
Class Of Stock [Line Items]          
Vesting period 3 years        
Performance and time based restricted stock units          
Class Of Stock [Line Items]          
Vesting period 3 years        
Grants of units unvested 621,990 164,722 88,902    
Restricted stock units and restricted stock awards          
Class Of Stock [Line Items]          
Rate of reduced stock-based compensation expense for estimated forfeiture 5.30% 4.10% 4.10%    
Restricted stock units          
Class Of Stock [Line Items]          
Amount expected to recognized over weighted-average period 1 year 10 months 24 days        
Unrecognized compensation cost related to unvested employee excluding estimated forfeitures | $ $ 11,771,000        
Grants of units unvested 1,836,134 934,698 328,946    
Maximum | Stock options          
Class Of Stock [Line Items]          
Stock option period, expiration 10 years        
Vesting period 4 years        
Minimum | Stock options          
Class Of Stock [Line Items]          
Stock option period, expiration 7 years        
Vesting period 1 year        
2014 Plan          
Class Of Stock [Line Items]          
Number of shares common stock reserved for issuance         2,027,790
2014 Plan | Restricted stock units and restricted stock awards          
Class Of Stock [Line Items]          
Stock option shares outstanding 1,077,837        
2014 Share Reserve Plan          
Class Of Stock [Line Items]          
Number of equity awards available for grant 895,346        
2014 ESPP Plan          
Class Of Stock [Line Items]          
Number of equity awards available for grant 550,595        
Terms of shares available for issuance The number of shares available for sale under the ESPP is increased annually on the first day of each fiscal year equal to the least of: •179,069 shares; •1.5% of the outstanding shares of the Company’s common stock on the last day of the Company’s immediately preceding fiscal year; or •such other amount as may be determined by the administrator.        
Percentage on outstanding shares of common stock 1.50%        
Number of additional number of shares reserve to provision 179,069        
Maximum percentage of common stock eligible to purchase through payroll deductions for participants 15.00%        
Maximum number of shares available for participant to purchase during period 1,500        
Purchase price as percentage of stock price on offering period 85.00%        
Purchase price as percentage of stock price on exercise date 85.00%        
Potential increase of shares available for issuance 179,069        
2023 Plan          
Class Of Stock [Line Items]          
Number of equity awards available for grant 1,713,834        
Number of shares common stock reserved for issuance       400,000  
2023 Plan | Maximum          
Class Of Stock [Line Items]          
Stock option shares outstanding       2,950,000