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Stock-Based Compensation - Additional Information for Stock-based Compensation Plans (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense |  | $ 66,015 | $ 80,469 | $ 112,832
2021 Equity Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares authorized (in shares) | 18,946,871 |  |  |
2021 Employee Stock Purchase Plan | Employee stock purchase plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Shares authorized (in shares) | 3,552,538 |  |  |
Fair market value of the stock at the beginning of the offering period | 85.00% |  |  |
Purchase period | 6 months |  |  |
Fixed contribution rate | 15.00% |  |  |
Total stock-based compensation expense |  | $ 700 | $ 700 | $ 400
2016 Stock Option Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 5 years |  |
Expiration period |  | 10 years |  |
Termination period |  | 30 days |  |

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