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Stock-Based Compensation - Summary of Restricted Stock Units Activity (Details) - Restricted Stock Units - 2018 Stock Plan and 2021 Equity Incentive Plan - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Restricted Stock Units, Beginning Balance 5,493 7,671
Number of Restricted Stock Units, Granted 2,718 2,047
Number of Restricted Stock Units, Vested or distributed (2,260) (3,026)
Number of Restricted Stock Units, Forfeited (1,490) (1,199)
Number of Restricted Stock Units, Ending Balance 4,461 5,493
Weighted Average Grant Date Fair Value, Beginning Balance $ 5.43 $ 4.98
Weighted Average Grant Date Fair Value, Granted 2.94 6.63
Weighted Average Grant Date Fair Value, Vested or distributed 5.55 4.88
Weighted Average Grant Date Fair Value, Forfeited 4.27 5.06
Weighted Average Grant Date Fair Value, Ending Balance $ 4.24 $ 5.43