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Income Taxes - Schedule of Deferred Tax Assets, Net (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred tax assets: |  |  |  |
Net operating losses | $ 154,607 | $ 154,832 |  |
Intangible assets | 21,232 | 13,618 |  |
Research and development credits carryovers | 12,493 | 11,384 |  |
Operating lease liabilities | 8,458 | 10,015 |  |
Accruals and reserves | 6,352 | 3,411 |  |
Stock-based compensation | 1,283 | 1,387 |  |
Fixed assets | 1,069 | 636 |  |
Other | 2,279 | 1,093 |  |
Total deferred tax assets | 207,773 | 196,376 |  |
Valuation allowance | (4,888) | (4,287) | $ (3,214) | $ (2,479)
Total deferred tax assets net of valuation allowance | 202,885 | 192,089 |  |
Deferred tax liabilities: |  |  |  |
Commissions receivable | (227,242) | (217,919) |  |
Right-of-use assets | (5,330) | (6,529) |  |
Total deferred tax liabilities | (232,572) | (224,448) |  |
Net deferred tax liabilities | $ (29,687) | $ (32,359) |  |

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