Stock-Based Compensation - Stock Option Activity (Details) - Employee Stock Option - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Outstanding - Beginning Balance	7,340,521	7,027,941	7,554,305
Granted	432,990	589,287	541,353
Exercised	(407,814)	(206,898)	(1,037,910)
Forfeited	(140,877)	(69,809)	(29,807)
Outstanding - Ending Balance	7,224,820	7,340,521	7,027,941
Vested (exercisable)	6,356,813
Expected to vest (unexercisable)	868,007
Weighted-average fair value per share	$ 11.86	$ 17.17	$ 32.79
Weighted- Average Exercise Price/Share
Outstanding - Beginning Balance	15.10	13.97	10.29
Granted	20.63	30.12	56.61
Exercised	3.63	9.90	8.66
Forfeited	24.82	43.42	40.56
Outstanding - Ending Balance	15.88	$ 15.10	$ 13.97
Vested (exercisable)	13.88
Expected to vest (unexercisable)	$ 30.55
Weighted- Average Remaining Contractual Term (Years)
Outstanding balance at end	4 years 3 months 18 days
Vested (exercisable)	4 years 1 month 6 days
Expected to vest (unexercisable)	5 years 8 months 12 days
Aggregated Intrinsic Value
Outstanding balance at end	$ 34,594
Vested (exercisable)	34,545
Expected to vest (unexercisable)	$ 49

Share Based Compensation Arrangement By Share Based Payment Award Options Aggregate Intrinsic Value [Abstract].

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Share Based Compensation Arrangement By Share Based Payment Award Options Weighted Average Remaining Contractual Term [Abstract].

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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.

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Gross number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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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.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. 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.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for 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.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. 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.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. 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.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for fully vested and expected to vest options outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. 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.

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Number of share options (or share units) exercised during the current period.

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