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Stock-based Compensation - Schedule of Activities for Unvested RSUs (Details) - Restricted Stock Units (RSUs)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Number of Shares  
Unvested at the beginning of the period (in shares) | shares 1,514,875
Granted (in shares) | shares 704,565
Vested (in shares) | shares (229,187)
Forfeited/canceled (in shares) | shares (382,678)
Unvested at the end of the period (in shares) | shares 1,607,575
Expected to vest after the end of the period (in shares) | shares 1,807,511
Weighted‑ Average Grant‑Date Fair Value  
Unvested at the beginning of the period (in dollars per share) | $ / shares $ 45.90
Granted (in dollars per share) | $ / shares 44.73
Vested (in dollars per share) | $ / shares 44.19
Forfeited/canceled (in dollars per share) | $ / shares 42.52
Unvested at the end of the period (in dollars per share) | $ / shares 46.44
Expected to vest after the end of the period (in dollars per share) | $ / shares $ 45.70