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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