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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands, shares in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Class of Warrant or Right [Line Items]          
Options outstanding and exercisable, aggregate intrinsic value $ 106,800   $ 106,800   $ 126,300
Options outstanding, aggregate intrinsic value 130,000   130,000   $ 185,300
Options exercised in the period, intrinsic value     8,900 $ 27,900  
Unrecognized compensation cost 12,400   12,400    
Unrecognized stock-based compensation expense $ 5,326 $ 3,225 $ 14,153 $ 7,452  
Employee stock purchase plan          
Class of Warrant or Right [Line Items]          
Shares available for grant (in shares) 1.1   1.1    
Unrecognized compensation cost $ 1,200   $ 1,200    
2021 Equity Incentive Award Plan          
Class of Warrant or Right [Line Items]          
Shares available for grant (in shares) 5.3   5.3    
Average vesting period for unrecognized compensation cost (in years)     4 months 24 days    
Restricted stock units          
Class of Warrant or Right [Line Items]          
Unrecognized stock-based compensation expense     $ 47,500