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Summary of Significant Accounting Policies - Antidilutive shares (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
The number of shares excluded from the computation of diluted loss per share
Antidilutive securities excluded from computation of earnings per share, amount	13,214,338	14,609,804	15,290,040
Class C convertible preferred stock
The number of shares excluded from the computation of diluted loss per share
Antidilutive securities excluded from computation of earnings per share, amount	5,894,535	5,664,532	5,443,505
Employee Stock Option
The number of shares excluded from the computation of diluted loss per share
Antidilutive securities excluded from computation of earnings per share, amount	2,486,737	4,194,554	5,449,952
Restricted stock units
The number of shares excluded from the computation of diluted loss per share
Antidilutive securities excluded from computation of earnings per share, amount	1,076,629	727,984	373,849
Convertible Senior Notes
The number of shares excluded from the computation of diluted loss per share
Antidilutive securities excluded from computation of earnings per share, amount	3,756,437	4,022,734	4,022,734

X

- Definition

Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 260
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482662/260-10-50-1

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- Definition

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+ References

No definition available.

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