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Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted-average remaining contractual life stock options outstanding | 6 years 2 months 12 days |  |  |
Weighted-average remaining contractual life vested and exercisable stock options | 5 years 3 months 18 days |  |  |
Weighted-average grant date fair value | $ 5.61 | $ 7.36 | $ 24.22 |
Total intrinsic value of options exercised | $ 1,400 | $ 7,600 | $ 156,500 |
Proceeds from exercise of stock options | 2,245 | 7,890 | 26,717 |
Proceeds from settlement of stock option exercised in prior periods |  |  | 300 |
Recognized share-based compensation expense | $ 62,908 | 55,477 | 43,251 |
Option Valuation Model |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Expected dividend yield | 0.00% |  |  |
Monte Carlo Valuation Model |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Recognized share-based compensation expense | $ 9,800 | 4,700 |  |
Requisite service period term | 3 years |  |  |
Restricted Stock Units (RSUs) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Fair value of RSUs vested | $ 12,000 | $ 3,500 | $ 800 |
Market-Based Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Restricted stock units outstanding | 956,337 |  |  |
Weighted-average grant date fair value per share | $ 15.13 |  |  |
Market-Based Restricted Stock Units | Monte Carlo Valuation Model |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted-average grant date fair value | $ 13.82 | $ 18.89 |  |
Market-Based Restricted Stock Units | Chief Executive Officer |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Performance period term | 3 years |  |  |
Market-Based Restricted Stock Units | Minimum | Chief Executive Officer |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock that may be earned under the award | 0 |  |  | 0
Market-Based Restricted Stock Units | Maximum | Chief Executive Officer |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock that may be earned under the award | 709,220 |  |  | 494,234
2009 Equity Incentive Plan | Grant |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares available for future issuance | 0 |  |  |
2009 Equity Incentive Plan | Grant | Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Option expiration period | 10 years |  |  |
2019 Equity Incentive Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Shares available for future issuance | 15,299,763 | 14,581,975 |  |
2019 Equity Incentive Plan | Grant |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of shares authorized for issuance | 34,853,581 |  |  |
2019 Equity Incentive Plan | Grant | Non Employee Directors |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Vesting period | 4 years |  |  |
2019 Equity Incentive Plan | Grant | Maximum |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Option expiration period | 10 years |  |  |
2019 Equity Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Weighted-average grant date fair value | $ 8.29 | $ 11.43 | $ 37.98 |
Restricted stock units outstanding | 9,669,460 | 5,981,755 |  |
Weighted-average grant date fair value per share | $ 10.32 | $ 14.11 |  |

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