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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Provision for (benefit from) income taxes at statutory rate	$ 6,614	$ (10,012)	$ (25,120)
State income taxes, net of federal benefit	1,796	(1,424)	(2,309)
Rate differential on foreign earnings	(130)	(104)	(68)
Research and development credits	(4,894)	(1,346)	(887)
Change in valuation allowance	814	304	809
Stock-based compensation	4,538	2,021	(3,065)
Nondeductible stock-based compensation	6,053	10,012	18,267
Unrecognized tax benefits	2,498	975	703
Non-deductible expenses	350	630	287
Other	(98)	4	432
Provision for (benefit from) income taxes	$ 17,541	$ 1,060	$ (10,951)

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Effective Income Tax Rate Reconciliation, Deductible Expense, Share-Based Payment Arrangement, Amount

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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