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Stockholders' Equity and Stock-based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Total stock-based compensation expense, net of amounts capitalized $ 69,079 $ 53,408 $ 67,579
Cost of revenues      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Total stock-based compensation expense, net of amounts capitalized 7,300 5,305 3,782
Research and development      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Total stock-based compensation expense, net of amounts capitalized 21,091 14,585 10,750
Sales and marketing      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Total stock-based compensation expense, net of amounts capitalized 12,234 9,837 6,323
General and administrative      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Total stock-based compensation expense, net of amounts capitalized $ 28,454 $ 23,681 $ 46,724