Stock-based Compensation - Schedule of Stock Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Number of Options
Beginning Balance (in shares)	17,155
Options granted (in shares)	4,181
Exercised (in shares)	(743)
Cancelled (in shares)	(19)
Forfeited (in shares)	(88)
Ending Balance (in shares)	20,486	17,155
Vested and expected to vest at end of period (in shares)	20,486
Exercisable at end of period (in shares)	14,021
Weighted- Average Exercise Price
Beginning Balance (in dollars per share)	$ 11.13
Granted (in dollars per share)	8.54
Exercised (in dollars per share)	8.20
Cancelled (in dollars per share)	9.77
Forfeited (in dollars per share)	9.44
Ending Balance (in dollars per share)	10.69	$ 11.13
Vested and expected to vest at end of period (in dollars per share)	10.69
Exercisable at end of period (in dollars per share)	$ 10.53
Weighted- Average Remaining Contractual Life (in Years)	6 years 10 months 24 days	7 years 1 month 6 days
Vested and expected to vest at end of period, term	6 years 10 months 24 days
Exercisable at end of period, term	6 years 1 month 6 days
Aggregate Intrinsic Value	$ 34,571	$ 3,698
Vested and expected to vest at end of period	34,571
Exercisable at ending period	$ 22,332

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.