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Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares
Jun. 30, 2024
Dec. 31, 2023
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 108,251,546 100,282,213
2014 Stock Plan [Member] | Employee Stock Option    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 26,766,038 31,112,073
2014 Stock Plan [Member] | RSUs [Member]    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 620,779 1,042,303
2021 Equity Incentive Plan [Member]    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 49,558,382 37,289,144
2021 Equity Incentive Plan [Member] | Employee Stock Option    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 22,500 22,500
2021 Equity Incentive Plan [Member] | RSUs [Member]    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 20,676,757 22,650,063
2021 Employee Stock Purchase Plan [Member]    
Class Of Stock [Line Items]    
Common stock reserved for issuance (in shares) 10,607,090 8,166,130