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Stockholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Shares    
Options outstanding, beginning balance (in shares) 2,443  
Granted (in shares) 602  
Exercised (in shares) (291)  
Forfeited (in shares) (44)  
Options outstanding, ending balance (in shares) 2,710 2,443
Options vested and exercisable (in shares) 2,142  
Weighted-Average  Exercise Price    
Options outstanding, weighted average exercise price, beginning of period (in dollars per share) $ 6.01  
Granted, weighted-average exercise price (in dollars per share) 16.47  
Exercised, weighted average exercise price (in dollars per share) 7.45  
Forfeited, weighted average exercise price (in dollars per share) 8.41  
Options outstanding, end of period (in dollars per share) 8.14 $ 6.01
Vested and exercisable, weighted-average exercise price (in dollars per share) $ 5.94  
Stock Option Activity, Additional Disclosures    
Weighted-average remaining contractual period 5 years 1 month 6 days 4 years 8 months 12 days
Vested and exercisable, weighted average contractual term 3 years 9 months 18 days  
Aggregate intrinsic value $ 26,383 $ 7,674
Vested and exercisable, aggregate intrinsic value $ 25,620