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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 in Thousands
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Number of Restricted Stock Units, Beginning Balance | shares 4,461
Number of Restricted Stock Units, Granted | shares 1,747
Number of Restricted Stock Units, Vested or distributed | shares (776)
Number of Restricted Stock Units, Forfeited | shares (579)
Number of Restricted Stock Units, Ending Balance | shares 4,853
Weighted Average Grant Date Fair Value, Beginning Balance | $ / shares $ 4.24
Weighted Average Grant Date Fair Value, Granted | $ / shares 3.32
Weighted Average Grant Date Fair Value, Vested or distributed | $ / shares 3.89
Weighted Average Grant Date Fair Value, Forfeited | $ / shares 3.69
Weighted Average Grant Date Fair Value, Ending Balance | $ / shares $ 4.04