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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
Foreign operations, net 0.50% 0.80% 2.50%
R&D tax credits (1.90%) (3.00%) (2.10%)
State taxes, net of federal benefit 3.50% 3.70% 2.80%
Stock-based compensation (1.50%) (1.00%) (2.40%)
Impact of UK tax rate change 0.00% 0.00% 2.00%
Legal entity restructuring (0.40%) 0.80% (1.40%)
Other, net 0.30% 0.80% (0.40%)
Effective tax rate 21.50% 23.10% 22.00%