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Equity Incentive Plans and Stock-Based Compensation - Summary of RSU activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Unvested at end of period (in shares) 4,033,000   4,033,000  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Nonvested $ 45,042   $ 45,042  
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Unvested at beginning of period (in shares)     3,017,000  
Granted (in shares)     1,551,000  
Released (in shares)     (385,000)  
Canceled (in shares)     (150,000)  
Unvested at end of period (in shares) 3,132,471   3,132,471  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Unvested at beginning of period (in dollars per share)     $ 13.15  
Granted (in dollars per share)     13.24  
Released (in dollars per share)     11.05  
Canceled (in dollars per share)     14.06  
Unvested at ending of period (in dollars per share) $ 13.35   $ 13.35  
Weighted-Average Remaining Vesting Term (years)     1 year 11 months 4 days  
Fair value of released awards $ 1,300 $ 1,400 $ 4,200 $ 4,400
Performance Stock Units (PSUs)        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]        
Unvested at end of period (in shares) 900,590   900,590