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Stock-Based Compensation - Summary of Equity Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
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