Annual report pursuant to Section 13 and 15(d)

Stock-Based Payments - 2016 Employee Stock Purchase Plan (Details)

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Stock-Based Payments - 2016 Employee Stock Purchase Plan (Details) - 2016 ESPP - shares
Jan. 01, 2023
Jul. 06, 2016
Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Increase in number of shares of common stock reserved for issuance of awards on the first day of each calendar year (in shares)   117,333  
Increase in number of shares of common stock reserved for issuance of awards on the first day of each calendar year, as a percentage of outstanding shares   1.00%  
Increase in number of shares of common stock reserved for issuance (in shares) 117,333    
Common stock available for future issuance (in shares)     258,504