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Stock-based Compensation - Common stock option activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Options      
Outstanding at beginning of the period 6,374,544    
Granted 1,053,888    
Exercised (529,854)    
Cancelled (347,553)    
Outstanding at end of the period 6,551,025 6,374,544  
Options exercisable at end of the period 3,936,040    
Weighted-Average Exercise Price      
Outstanding at beginning of the period $ 17.85    
Granted 25.42    
Exercised 14.09    
Cancelled 21.23    
Outstanding at end of the period 19.19 $ 17.85  
Options exercisable at end of the period $ 19.77    
Weighted-Average Remaining Contractual Term      
Outstanding at end of the period 7 years 2 months 23 days 7 years 8 months 23 days  
Options exercisable at end of the period 6 years 6 months 14 days    
Aggregate Intrinsic Value      
Outstanding balance   $ 73,994  
Exercised $ 9,225    
Options vested and expected to vest 175,419    
Options exercisable $ 103,122    
2017 Equity Incentive Plan      
Number of Options      
Granted 842,528 1,929,345 1,678,230