Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Additional Information (Details)

Equity Incentive Plans - Additional Information (Details)	1 Months Ended	12 Months Ended
	May 31, 2017 shares	Dec. 31, 2022 USD ($) Participant shares	Dec. 31, 2021 shares	Dec. 31, 2020 shares	Dec. 31, 2017
Options to Purchase Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized stock-based compensation cost related to unvested stock options \| $		$ 10,500,000
Total unrecognized stock-based compensation cost related to unvested stock options, recognized ratably over a weighted-average period		2 years 9 months 18 days
Income tax benefits from stock-based compensation \| $		$ 0
Restricted Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized stock-based compensation cost related to unvested stock options, recognized ratably over a weighted-average period		2 years 7 months 6 days
Cancelled restricted stock units		2,825	15,761	10,277
Total unrecognized stock-based compensation cost related RSUs \| $		$ 5,700,000
Restricted Stock Unit \| Executive Management
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		4 years
2005 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grant	0
2017 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grant		1,527,374	1,661,956
Shares of common stock reserved for issuance, automatic annual increase initiation period	--01-01
Percentage of number of shares of common stock outstanding					5.00%
2017 Equity Incentive Plan \| Restricted Stock Unit
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Recognized net incremental compensation expense \| $		$ 10,000.00
2017 Equity Incentive Plan \| Restricted Stock Unit \| Two individuals
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Accelerated vesting		5,849
2017 Equity Incentive Plan \| Restricted Stock Unit \| Another individual
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cancelled restricted stock units		1,887
Incentive Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Ownership percentage, minimum		10.00%
Incentive Stock Options \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of fair value of common stock granted to employees		110.00%
2005 Plan and 2017 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		4 years
2005 Plan and 2017 Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period		10 years
2017 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future grant		516,167	399,328
Percentage of number of shares of common stock outstanding		2.00%
Percentage of fair market value of common stock at beginning and end of offering period	15.00%
Purchase of common stock under ESPP, Description		The 2017 ESPP permits the maximum discounted purchase price permitted under U.S. tax rules, including a “lookback”, which allows eligible employees to purchase shares of the Company’s common stock at a 15% discount to the lesser of the fair market value of common stock at the beginning and end of the offering period.
Initial offering period in length		24 months
Number of participant have the right to purchase shares of common stock \| Participant		0
Fair Market Value Of Common Stock \| $		$ 25,000
Periodic increment of common stock reserved for future issuance		150,000