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Selected Quarterly Financial Data (Unaudited) - Schedule of Quarterly Financial Information (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ 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 Disclosure [Abstract]                      
Revenue $ 239,062 $ 230,105 $ 222,882 $ 218,439 $ 208,345 $ 198,342 $ 189,382 $ 182,777 $ 910,488 $ 778,846 $ 609,591
Cost of revenue 112,493 111,080 104,361 104,756 96,294 94,111 88,229 88,867 432,690 367,501 271,099
Gross profit 126,569 119,025 118,521 113,683 112,051 104,231 101,153 93,910 477,798 411,345 338,492
Operating expenses:                      
Research and development 38,873 40,391 39,210 38,108 36,865 34,113 34,992 35,824 156,582 141,794 106,897
Sales and marketing 72,956 73,366 74,077 76,314 65,928 67,353 64,098 64,611 296,713 261,990 193,929
General and administrative 33,338 31,006 30,477 28,258 22,509 24,496 23,824 24,314 123,079 95,143 93,916
Total operating expenses 145,167 144,763 143,764 142,680 125,302 125,962 122,914 124,749 576,374 498,927 394,742
Loss from operations (18,598) (25,738) (25,243) (28,997) (13,251) (21,731) (21,761) (30,839) (98,576) (87,582) (56,250)
Other income (expense), net:                      
Interest expense (1,963) (1,972) (1,866) (1,845) (1,887) (1,879) (1,857) (1,870) (7,646) (7,493) (8,027)
Interest income and other 8,322 8,233 6,123 4,121 2,706 982 280 845 26,799 4,813 (8)
Total other income (expense), net 6,359 6,261 4,257 2,276 819 (897) (1,577) (1,025) 19,153 (2,680) (8,035)
Loss before income taxes (12,239) (19,477) (20,986) (26,721) (12,432) (22,628) (23,338) (31,864) (79,423) (90,262) (64,285)
Provision for (benefit from) income taxes 119 942 753 527 1,221 579 332 2,256 2,341 4,388 (11,285)
Net loss $ (12,358) $ (20,419) $ (21,739) $ (27,248) $ (13,653) $ (23,207) $ (23,670) $ (34,120) $ (81,764) $ (94,650) $ (53,000)
Net loss per share:                      
Basic (in USD per share) $ (0.17) $ (0.28) $ (0.30) $ (0.38) $ (0.19) $ (0.33) $ (0.34) $ (0.49) $ (1.13) $ (1.35) $ (0.79)
Diluted (in USD per share) $ (0.17) $ (0.28) $ (0.30) $ (0.38) $ (0.19) $ (0.33) $ (0.34) $ (0.49) $ (1.13) $ (1.35) $ (0.79)
Shares used in computing net loss per share:                      
Basic (in shares) 72,926 72,356 71,627 71,259 70,704 70,232 69,748 68,974 72,048 69,920 67,512
Diluted (in shares) 72,926 72,356 71,627 71,259 70,704 70,232 69,748 68,974 72,048 69,920 67,512