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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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