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Stock-Based Compensation and Employee Benefits - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands |  | 1 Months Ended | 12 Months Ended
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Oct. 31, 2014 | Feb. 28, 2021 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Stock-based compensation expense |  | $ 800 | $ 50,737 | $ 51,364 | $ 38,160
Unrecognized stock-based compensation expenses related to stock options |  |  | $ 51,500 |  |
Unrecognized share-based compensation related to stock options, RSUs and ESPP, period for recognition |  |  | 2 years 8 months 12 days |  |
2014 Employee Stock Purchase Plan (ESPP) |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  |  | 3,172,117 |  |
Percentage of purchase common stock of lesser of fair market value of common stock on first or last day of offering period by eligible employees |  |  | 85.00% |  |
Employee stock purchase plan offering period one | --05-16 |  |  |  |
Employee stock purchase plan offering period two | --11-16 |  |  |  |
Unrecognized stock-based compensation expenses related to stock options |  |  | $ 700 |  |
Unrecognized share-based compensation related to stock options, RSUs and ESPP, period for recognition |  |  | 4 months 15 days |  |
2014 Employee Stock Purchase Plan (ESPP) | Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Percentage of shares reserve for issuance | 1.00% |  |  |  |

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