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Stock Benefit Plans and Stock-Based Compensation - Summary of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Shares Outstanding, Beginning balance | shares 2,916
Shares, Exercised | shares (399)
Shares, Forfeited | shares (48)
Shares Outstanding, Ending balance | shares 2,469
Shares, Options vested and expected to vest | shares 2,469
Shares, Options exercisable | shares 2,444
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Weighted average exercise price, Outstanding, Beginning balance | $ / shares $ 3.38
Weighted average exercise price,Exercised | $ / shares 2.4
Weighted average exercise price, Forfeited | $ / shares 20.46
Weighted average exercise price, Outstanding, Ending balance | $ / shares 3.2
Weighted average exercise price, Options vested and expected to vest | $ / shares 3.2
Weighted average exercise price, Options exercisable | $ / shares $ 3.11
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Weighted average remaining contractual term, Outstanding, balance 4 years 2 months 19 days
Weighted average remaining contractual term, Options vested and expected to vest 4 years 2 months 19 days
Weighted average remaining contractual term, Options exercisable 4 years 2 months 8 days
Aggregate intrinsic value, Outstanding | $ $ 29,446
Aggregate intrinsic value, Options vested and expected to vest | $ 29,466
Aggregate intrinsic value, Options exercisable | $ $ 29,371