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Stock-Based Compensation - Summary of Equity Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Shares available for grant    
Beginning balance (in shares) 7,400,180  
Shares authorized (in shares)   1,957,530
Granted (in shares) 0  
Exercised (in shares) 0  
Cancelled (in shares) 97,472  
Ending balance (in shares) 9,133,980 7,400,180
Outstanding Stock Options    
Beginning balance (in shares) 9,307,142  
Options granted (in shares) 0  
Exercised (in shares) (1,429,482)  
Cancelled (in shares) (97,472)  
Ending balance (in shares) 7,780,188 9,307,142
Vested and exercisable (in shares) 6,597,145  
Weighted-average exercise Price    
Beginning balance (USD per share) $ 6.41  
Granted (USD per share) 0  
Exercised (USD per share) 3.00  
Cancelled (USD per share) 13.88  
Ending balance (USD per share) 6.94 $ 6.41
Vested and exercisable (USD per share) $ 5.86  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Options outstanding, Weighted-average remaining contractual life (years) 5 years 8 months 12 days 5 years 6 months 25 days
Vested and exercisable, Weighted-average remaining contractual life (years) 5 years 5 months 1 day  
Options outstanding, Aggregate intrinsic value $ 40,146 $ 31,250
Vested and exercisable, Aggregate intrinsic value $ 37,793  
Restricted stock units outstanding    
Shares available for grant    
RSU award activity (in shares) (321,202)