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Stockholders' Equity - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | ---
Sep. 29, 2023 shares | Oct. 01, 2021 shares | Sep. 17, 2015 USD ($) shares | Oct. 31, 2011 | Jan. 31, 2005 | Dec. 31, 2023 USD ($) vote shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Preferred stock, shares authorized (in shares) |  |  |  |  |  | 5,000,000 | 5,000,000 |
Preferred stock, shares outstanding (in shares) |  |  |  |  |  | 0 | 0 |
Common stock, number of votes per share | vote |  |  |  |  |  | 1 |  |
Shares issued in connection with Buyout Agreement (in shares) | 71,211 |  |  |  |  |  |  |
Number of options unvested and subject to repurchase (in shares) |  |  |  |  |  | 0 | 0 |
Intrinsic value of options exercised in period | $ |  |  |  |  |  | $ 60,000 | $ 48,200 | $ 81,100
Issuance of common stock under employee stock purchase plan (in shares) |  |  |  |  |  | 83,799 | 113,893 | 64,852
Issuance of common stock under employee stock purchase plan | $ |  |  |  |  |  | $ 14,896 | $ 13,766 | $ 13,705
Unrecognized compensation cost related to unvested share-based compensation arrangements | $ |  |  |  |  |  | $ 64,600 |  |
Unrecognized compensation cost, expected recognition period |  |  |  |  |  | 2 years 6 months |  |
Share-based compensation expense capitalized in inventory | $ |  |  |  |  |  | $ 1,300 | $ 2,200 | $ 1,800
Stock Options |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Weighted average grant date fair value of stock options (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 84.25 | $ 238.14
Restricted Stock and Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Fair value of restricted stock vested | $ |  |  |  |  |  | $ 48,300 | $ 26,800 | $ 42,300
Expected to vest (in shares) |  |  |  |  |  | 325,066 |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance (in shares) |  |  | 600,000 |  |  | 755,623 |  |
Minimum percent of eligible compensation per pay period to be used to purchase shares under plan |  |  | 1.00% |  |  |  |  |
Maximum percent of eligible compensation per pay period to be used to purchase shares under plan |  |  | 15.00% |  |  |  |  |
Purchase price of common stock, percent of fair market value |  |  | 85.00% |  |  |  |  |
Maximum number of shares that may be purchased by any one employee (in shares) |  |  | 2,000 |  |  |  |  |
Maximum value of shares that may be purchased by any one employee | $ |  |  | $ 25 |  |  |  |  |
Performance Shares |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Fair value of restricted stock vested | $ |  |  |  |  |  | $ 1,900 | $ 1,200 | $ 2,300
Expected to vest (in shares) |  |  |  |  |  | 87,138 |  |
Unrecognized compensation cost related to unvested share-based compensation arrangements | $ |  |  |  |  |  | $ 14,600 |  |
Unrecognized compensation cost, expected recognition period |  |  |  |  |  | 3 years 3 months 18 days |  |
Performance Shares | Maximum |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Award requisite service period |  |  |  |  |  | 5 years |  |
Performance Shares | Minimum |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Award requisite service period |  |  |  |  |  | 4 years |  |
2005 Stock Plan | Stock Options | Vesting after 1 year |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Award vesting rate |  |  |  |  |  | 25.00% |  |
2005 Stock Plan | Stock Options | Vesting thereafter, per month |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Award vesting rate |  |  |  |  |  | 2.00% |  |
2005 Stock Plan | Incentive Stock Options (ISO) |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Minimum voting rights for determination of exercise price, percent |  |  |  |  | 10.00% |  |  |
Minimum exercise price, percent over fair market value |  |  |  |  | 110.00% |  |  |
Shares transferred to different plan (in shares) |  |  | 564 |  |  |  |  |
Shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 5,000 |  |
2005 Stock Plan | Incentive Stock Options (ISO) | Maximum |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Term of award (in years) |  |  |  |  | 5 years |  |  |
2005 Stock Plan | Other Options | Maximum |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Term of award (in years) |  |  |  |  | 10 years |  |  |
2011 Equity Incentive Plan | Stock Options |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Term of award (in years) |  |  |  | 10 years |  |  |  |
Shares transferred to different plan (in shares) |  |  | 89,559 |  |  |  |  |
Shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 0 |  |
Award vesting period (in years) |  |  |  | 4 years |  |  |  |
2011 Equity Incentive Plan | Incentive Stock Options (ISO) |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Minimum voting rights for determination of exercise price, percent |  |  |  | 10.00% |  |  |  |
Minimum exercise price, percent over fair market value |  |  |  | 110.00% |  |  |  |
2014 Equity Incentive Plan |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance (in shares) |  |  |  |  |  | 6,964,221 |  |
Number of shares available for grant (in shares) |  |  |  |  |  | 5,932,280 |  |
Sixense Enterprises Inc. |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |
Shares issued for acquisition (in shares) |  | 661,877 |  |  |  |  |  |
Options issued in connections with acquisition (in shares) |  | 447,017 |  |  |  |  |  |

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