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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, authorized (in shares) 100,000,000 100,000,000
Preferred stock, issued (in shares) 0 0
Common stock, authorized (in shares) 1,003,170,181 1,100,000,000
Common stock, issued (in shares) 181,945,771 185,975,709
Common stock, outstanding (in shares) 181,945,771 185,975,709
Common Stock Class A    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 1,000,000,000 1,000,000,000
Common stock, issued (in shares) 181,945,771 176,358,104
Common stock, outstanding (in shares) 181,945,771 176,358,104
Common Stock Class B    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 3,170,181 100,000,000
Common stock, issued (in shares) 0 9,617,605
Common stock, outstanding (in shares) 0 9,617,605