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Selected Quarterly Financial Data (Unaudited) - Schedule of Allocation of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Quarterly Financial Information [Line Items]                      
Total stock-based compensation $ 49,571 $ 52,611 $ 53,367 $ 50,743 $ 43,824 $ 44,503 $ 44,786 $ 39,394 $ 206,292 $ 172,507 $ 108,805
Cost of revenue                      
Quarterly Financial Information [Line Items]                      
Total stock-based compensation 9,182 9,856 9,888 9,333 8,638 8,329 8,538 7,793      
Research and development                      
Quarterly Financial Information [Line Items]                      
Total stock-based compensation 12,055 12,980 13,013 12,382 11,799 10,603 11,818 10,145      
Sales and marketing                      
Quarterly Financial Information [Line Items]                      
Total stock-based compensation 15,389 16,404 17,391 17,045 15,152 15,761 14,963 13,424      
General and administrative                      
Quarterly Financial Information [Line Items]                      
Total stock-based compensation $ 12,945 $ 13,371 $ 13,075 $ 11,983 $ 8,235 $ 9,810 $ 9,467 $ 8,032