Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Net operating losses	$ 178,149	$ 183,306
Lease liability	20,137	23,245
Research and development credits	38,280	21,383
Capitalized research and development	45,418	21,032
Stock-based compensation	11,765	10,429
Deferred revenue	4,934	2,811
Reserves and accruals	4,336	4,648
Other	1,889	4,179
Deferred tax assets	304,908	271,033
Intangible asset amortization	(16,310)	(21,713)
Right-of-use asset	(15,322)	(18,847)
State taxes	(13,032)	(10,732)
Prepaid commissions	(13,868)	(11,526)
Deferred tax liabilities	(58,532)	(62,818)
Valuation allowance	(245,476)	(208,215)
Net deferred tax (liabilities) assets	$ 900
Net deferred tax (liabilities) assets		$ 0

Deferred Tax Asset, Lease Liability

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Deferred Tax Assets, Capitalized Research And Development Costs

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Deferred Tax Liabilities, State Taxes

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Amount of deferred tax liability attributable to taxable temporary differences.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (a)
-Publisher FASB
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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from deferred income.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences and carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from in-process research and development costs expensed in connection with a business combination.

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Amount, after allocation of valuation allowances and deferred tax liability, of deferred tax asset attributable to deductible differences and carryforwards, without jurisdictional netting.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible operating loss carryforwards.

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Amount, before allocation of valuation allowance, of deferred tax asset attributable to deductible temporary differences, classified as other.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from share-based compensation.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from reserves and accruals.

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

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Amount, after deferred tax asset, of deferred tax liability attributable to taxable differences without jurisdictional netting.

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Amount of deferred tax liability attributable to taxable temporary differences from intangible assets including goodwill.

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Amount of deferred tax liability attributable to taxable temporary differences from leasing arrangements.

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Amount of deferred tax consequences attributable to taxable temporary differences derived from prepaid expenses.

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