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Stockholders' Equity - Schedule of Share-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total share-based compensation expense $ 29,289 $ 33,746
Cost of revenues    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total share-based compensation expense 513 527
Research and development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total share-based compensation expense 9,209 10,914
Sales and marketing    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total share-based compensation expense 2,140 2,499
General and administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Total share-based compensation expense $ 17,427 $ 19,806