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Income Taxes - Reconciliation of Income Taxes Computed at Federal Statutory Rate and Provision for Income Taxes (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	(0.50%)	(0.10%)	(0.10%)
Permanent differences	(0.90%)	(0.20%)	(0.20%)
Stock-based compensation	(7.00%)	(2.40%)	14.20%
Federal research and development credit	0.90%	1.40%	1.40%
Foreign rate differential	0.30%	0.10%	(0.50%)
Change in valuation allowance	(3.20%)	(24.80%)	(36.00%)
Excess officers' compensation	(1.70%)	(3.10%)	(5.90%)
Tax rate change	(3.40%)	7.80%	11.20%
Induced conversion expense	(9.50%)	0.00%	(0.60%)
Tax reserves	(0.10%)	(0.20%)	(3.80%)
Prior year true-ups	5.20%	(0.30%)	(0.10%)
Capital gain on sale	0.00%	0.00%	(7.00%)
Other	(0.80%)	(1.10%)	(1.20%)
Effective income tax rate	0.30%	(1.90%)	(7.60%)

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