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Stockholders’ Equity - Narrative (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Mar. 01, 2023
USD ($)
Dec. 31, 2023
USD ($)
vote
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Mar. 31, 2023
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock, shares authorized (in shares) | shares   80,000,000 80,000,000  
Common stock, par value (in dollars per share) | $ / shares   $ 0.0001 $ 0.0001  
Number of voting rights | vote   1    
Weighted average grant date, fair value (in dollars per share) | $ / shares     $ 15.24  
Early exercise of stock options liability for unvested awards   $ 700 $ 1,400  
Number of shares subject to repurchase related to early exercise of stock option (in shares) | shares   26,000 100,000  
Stock repurchase authorized amount       $ 50,000
Repurchases of common stock (in shares) | shares   100,000    
Cash used for repurchase of common stock   $ 1,800 $ 0  
Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost   $ 4,000    
Unrecognized compensation cost, period for recognition (in years)   1 year 1 month 6 days    
Expected term (in years)   10 years    
Incremental share-based compensation charge, closing price multiplier 2      
Incremental share-based compensation charge $ 3,600      
Incremental share-based compensation charge, recognized on repricing date 1,400      
Incremental share-based compensation charge, recognized through remaining term $ 2,200      
Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)     5 years  
Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)     6 years 8 months 12 days  
RSUs | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   2 years    
RSUs | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   4 years    
PRSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Granted (in shares) | shares     1,100,000  
PRSU | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   1 year    
Vesting, percentage of granted amount     0.00%  
PRSU | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   4 years    
Vesting, percentage of granted amount     100.00%  
RSU and PRSU        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost   $ 45,900    
Unrecognized compensation cost, period for recognition (in years)   1 year 8 months 12 days    
Expected term (in years)   4 years 1 month 6 days    
Granted (in shares) | shares   1,579,871 2,829,774  
Employee Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Purchase price of common stock, percent   85.00%    
Number of shares authorized for issuance (in shares) | shares   500,000    
Percentage of issued and outstanding stock, maximum   1.00%    
Maximum employee subscription amount   $ 25    
Look back feature (in months)   6 months    
Issued (in shares) | shares   142,297 46,000  
the 2019 Stock Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Purchase price of common stock, percent   100.00%    
the 2019 Stock Plan | Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Term period (in years)   10 years    
Vesting period (in years)   4 years    
the 2019 Stock Plan | RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   4 years    
2021 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized for issuance (in shares) | shares   3,100,000    
Percentage of issued and outstanding stock, maximum   5.00%    
2021 Plan | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   2 years    
2021 Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting period (in years)   4 years