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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