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Stock Benefit Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  | 3 Months Ended | 12 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Oct. 26, 2023 | Jun. 16, 2021 | Sep. 30, 2016 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Oct. 25, 2023 | Jun. 14, 2023 | Apr. 08, 2020 | Jul. 31, 2019 | Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 45,126,000 |  |  |  |  |  |  |
Straight-line basis over a weighted average period |  |  |  | 1 year 2 months 4 days |  |  |  |  |  |  |
Stock-based compensation |  |  |  | $ 81,244,000 | $ 40,556,000 | $ 36,450,000 |  |  |  |  |
Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  | 19,725,000 |  |  |  |  |  |  |
Number of warrants available to be granted |  |  |  | 338,000 |  |  |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  | 4 years |  |  |  |  |  |  |
Employee Stock Option |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 2,469,000 |  |  |  |  |  |  |
Weighted-average grant-date fair value of stock options granted |  |  |  |  |  | $ 9.88 |  |  |  |  |
Stock options granted |  |  |  | 0 | 0 |  |  |  |  |  |
Total intrinsic value of stock options exercised |  |  |  | $ 5,200,000 | $ 3,400,000 | $ 6,800,000 |  |  |  |  |
Share price |  |  |  | $ 15.11 |  |  |  |  |  |  |
Unrecognized compensation expense for stock options and awards expected to be recognized |  |  |  | $ 200,000 |  |  |  |  |  |  |
Unvested Restricted Stock Award |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restricted shares granted under the plan |  |  |  | 6,162,000 |  |  |  |  |  |  |
Straight-line basis over a weighted average period |  |  |  | 1 year 6 months 7 days |  |  |  |  |  |  |
Weighted average grant-date fair value of awards granted |  |  |  | $ 15.39 | $ 8.13 | $ 12.79 |  |  |  |  |
Unrecognized compensation expense for restricted stock awards, restricted stock units and performance-based restricted units expected to be recognized |  |  |  | $ 58,900,000 |  |  |  |  |  |  |
Total fair value of awards vested |  |  |  | $ 104,300,000 | $ 35,200,000 | $ 43,900,000 |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 1,243,000 |  |  |  | 3,637,449 |  |  |
Number of shares available for grant |  |  |  |  |  |  |  | 1,500,000 |  |  |
Employee stock purchase plan, maximum annual compensation percentage |  | 20.00% |  |  |  |  |  |  |  |  |
Employee stock purchase plan, maximum annual compensation amount |  | $ 21,250 |  |  |  |  |  |  |  |  |
Purchase price equal to the lower of the fair market value per share (at closing) of Company common stock |  | 85.00% |  |  |  |  |  |  |  |  |
Employee stock purchase plan, offering period |  | 6 months |  |  |  |  |  |  |  |  |
Shares of common stock issued under the ESPP |  |  |  | 375,000 | 429,000 | 227,000 |  |  |  |  |
Stock-based compensation |  |  |  | $ 1,700,000 | $ 1,600,000 | $ 1,100,000 |  |  |  |  |
2016 Equity Incentive Plan |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  |  |  |  |  | 26,383,333 |  |  |
Number of shares available for grant |  |  |  | 7,097,000 |  |  |  | 9,300,000 |  |  |
2016 Equity Incentive Plan | Employee Stock Option |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  | 10 years |  |  |  |  |  |  |  |
Award vesting period |  |  | 4 years |  |  |  |  |  |  |  |
Exercise price minimum percentage of market price on grant date |  |  | 100.00% |  |  |  |  |  |  |  |
2016 Equity Incentive Plan | Employee Stock Option | 10 Percent Stockholder |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Expiration period |  |  | 5 years |  |  |  |  |  |  |  |
Exercise price minimum percentage of market price on grant date |  |  | 110.00% |  |  |  |  |  |  |  |
Inducement Plan |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 567,000 |  |  | 4,150,000 |  |  |  |
Number of shares available for grant |  |  |  |  |  |  | 600,000 |  |  |  |
Maximum award to be deductible other than options |  |  |  | $ 1,000,000 |  |  |  |  |  |  |
2019 Management Objective Strategic Incentive Plan | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  | 12,500 |  |  |  |  |  |  |
2019 Management Objective Strategic Incentive Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Share authorized grant of warrants |  |  |  |  |  |  |  |  |  | 500,000 |
2019 Management Objective Strategic Incentive Plan | Unvested Restricted Stock Award |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  | 476,000 |  |  |  |  |  |  |
2017 Distributor Inducement Plan | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance | 1,500,000 |  |  |  |  |  |  |  |  |  |
Increase in number of shares available for grant | 500,000 |  |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  | 579,000 |  |  |  |  |  |  |
Number of warrants available to be granted |  |  |  | 345,000 |  |  |  |  |  |  |
2017 Distributor Inducement Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Share authorized grant of warrants |  |  |  |  |  |  |  |  |  |  | 1,000,000
2017 Distributor Inducement Plan | Restricted Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restricted shares granted under the plan |  |  |  | 595,000 |  |  |  |  |  |  |
Two Thousand Seventeen Development Services Plan |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance | 10,000,000 |  |  |  |  |  |  |  |  |  |
Increase in number of shares available for grant | 2,000,000 |  |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  | 2,362,000,000 |  |  |  |  |  |  |
Two Thousand Seventeen Development Services Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  |  |  |  |  |  | 8,000,000 |  |

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