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Share-Based Compensation - Summary of Assumptions Used to Value ESPP Rights Under the Black-Scholes Option-Pricing Model (Details) - 2013 Employee stock purchase plan - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected term (in years) 6 months 6 months 6 months
Expected volatility 67.00% 81.00% 48.00%
Risk-free interest rate 5.36% 3.01% 0.05%
Expected dividend yield 0.00% 0.00% 0.00%
Offering grant date fair value of ESPP rights (in dollars per share) $ 9.38 $ 20.18 $ 71.27