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Stock-Based Compensation - Schedule of Restricted Stock Unity Activity (Details) - Restricted Stock Units (RSUs) and Performance Shares (PSUs) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Unvested and outstanding, beginning balance (in shares) 2,985 469  
Granted (in shares) 2,996 3,361  
Exercised (in shares)   (264)  
Vested (in shares) (1,328)    
Forfeited and cancelled (in shares) (2,115) (581)  
Unvested and outstanding, ending balance (in shares) 2,538 2,985  
Weighted-average fair value      
Unvested and outstanding, beginning balance (in dollars per share) $ 25.39 $ 47.12  
Granted (in dollars per share) 8.29 $ 24.62  
Exercised (in dollars per share)   37.43  
Vested (in dollars per share) 16.22    
Forfeited and cancelled (in dollars per share) 19.93 $ 32.98  
Unvested and outstanding, ending balance (in dollars per share) $ 14.56 $ 25.39  
Aggregate intrinsic value      
Unvested and outstanding as of December 31, 2022 $ 19,264 $ 18,864 $ 16,781
Unvested and outstanding as of December 31, 2023 $ 19,264 $ 18,864