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Stock-Based Compensation and Employee Benefits - Summary of Option Activities Under 2016 and 2014 Plans (Details) - 2016 plan and 2014 plan
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Options, Beginning balance | shares 21,691,321
Number of Options, Granted - at fair value | shares 5,947,607
Number of Options, Exercised | shares (430,504)
Number of Options, Forfeited/Canceled | shares (3,549,184)
Number of Options, Ending balance | shares 23,659,240
Number of Options, Exercisable | shares 16,279,679
Weighted-Average Exercise Price, Beginning balance | $ / shares $ 15.00
Weighted-Average Exercise Price, Granted - at fair value | $ / shares 6.86
Weighted Average Exercise Price, Exercised | $ / shares 1.61
Weighted Average Exercise Price, Forfeited/Canceled | $ / shares 14.25
Weighted-Average Exercise Price, Ending balance | $ / shares 13.31
Weighted Average Exercise Price, Exercisable | $ / shares $ 15.20
Options outstanding, Weighted-Average Remaining Contractual Terms 5 years 8 months 12 days
Options outstanding, Weighted-Average Remaining Contractual Terms, Exercisable 4 years 3 months 18 days
Options outstanding, Aggregate Intrinsic Value | $ $ 2,337
Options outstanding, Aggregate Intrinsic Value, Exercisable | $ $ 1,815