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Income Taxes - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Tax Credit Carryforward [Line Items]        
Basic (in dollars per share) $ 0.49 $ 0.54 $ 0.02  
Diluted (in dollars per share) $ 0.46 $ 0.51 $ 0.02  
Research and development credits $ 14,900 $ 12,700    
Tax credit carryforwards   13,600    
Unrecognized tax benefits 24,330 17,077 $ 6,337 $ 5,121
Unrecognized tax benefits that would impact effective tax rate, net of valuation allowances 22,600 16,700    
Cumulative Effect, Period of Adoption, Adjustment        
Tax Credit Carryforward [Line Items]        
Cumulative benefit $ 2,000      
Basic (in dollars per share) $ 0.02      
Diluted (in dollars per share) $ 0.01      
Federal Tax Authority        
Tax Credit Carryforward [Line Items]        
Operating loss carryforwards $ 0 0    
Tax credit carryforwards 0      
State and Local Jurisdiction        
Tax Credit Carryforward [Line Items]        
Operating loss carryforwards 9,100 21,200    
Tax credit carryforwards 23,500 $ 19,600    
State and Local Jurisdiction | Indefinite Carryforward        
Tax Credit Carryforward [Line Items]        
Operating loss carryforwards $ 100