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Summary of Significant Accounting Policies - Summary of Potentially Dilutive Securities (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Options to purchase common stock (in shares) 4,800 3,977 3,631
Options to purchase common stock      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Options to purchase common stock (in shares) 4,279 3,602 3,631
Restricted stock units      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Options to purchase common stock (in shares) 521 375 0