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Stock-Based Compensation - Summary of Equity Award Activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Shares available for grant |  |
Beginning balance (in shares) | 1,836,566 |
Shares authorized (in shares) |  | 9,102,074
Options granted (in shares) | 0 |
Options exercised (in shares) | 0 |
Options cancelled (in shares) | 617,293 |
Ending balance (in shares) | 7,400,180 | 1,836,566
Outstanding Stock Options |  |
Beginning balance (in shares) | 12,371,281 |
Options granted (in shares) | 0 |
Options exercised (in shares) | (2,446,846) |
Options cancelled (in shares) | (617,293) |
Ending balance (in shares) | 9,307,142 | 12,371,281
Vested and exercisable (in shares) | 7,747,252 |
Weighted-average exercise Price |  |
Beginning balance (USD per share) | $ 5.74 |
Options granted (USD per share) | 0 |
Options exercised (USD per share) | 1.89 |
Options cancelled (USD per share) | 10.87 |
Ending balance (USD per share) | 6.41 | $ 5.74
Vested and exercisable (USD per share) | $ 5.24 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |
Options outstanding, Weighted-average remaining contractual life (years) | 5 years 6 months 25 days | 6 years 25 days
Vested and exercisable, Weighted-average remaining contractual life (years) | 5 years 2 months 1 day |
Options outstanding, Aggregate intrinsic value | $ 31,250 | $ 32,385
Vested and exercisable, Aggregate intrinsic value | $ 29,480 |
RSUs |  |
Shares available for grant |  |
RSU award activity (in shares) | 4,155,753 |

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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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