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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Shares        
Beginning balance (in shares) 4,214,617 2,961,195 3,785,941  
Granted (in shares) 1,679,860 4,494,333 1,232,056  
Exercised (in shares) (279,148) (949,259) (1,372,564)  
Forfeited (in shares) (1,234,230) (2,291,652) (684,238)  
Ending balance (in shares) 4,381,099 4,214,617 2,961,195 3,785,941
Exercisable at end of period (in shares) 1,171,045      
Vested and expected (in shares) 4,381,099      
Weighted Average Exercise Price        
Beginning balance (in dollars per share) $ 16.48 $ 25.46 $ 15.21  
Granted (in dollars per share) 17.11 14.49 42.13  
Exercised (in dollars per share) 10.79 10.87 9.97  
Forfeited (in dollars per share) 20.77 26.50 29.70  
Ending balance (in dollars per share) 15.87 $ 16.48 $ 25.46 $ 15.21
Exercisable, ending balance (in dollars per share) 20.45      
Vested and expected (in dollars per share) $ 15.87      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]        
Weighted average remaining contractual term 5 years 6 months 21 days 5 years 6 months 18 days 3 years 9 months 14 days 3 years 2 months 26 days
Exercisable, ending balance of weighted-average remaining contract term (in dollars per share) 4 years 2 months 1 day      
Vested and expected weighted-average remaining contract term (in dollars per share) 5 years 6 months 21 days      
Beginning balance of Aggregate Intrinsic $ 1,375 $ 36,065 $ 146,252  
Exercised 1,373 6,050 46,692  
Ending balance of Aggregate Intrinsic 15,568 $ 1,375 $ 36,065 $ 146,252
Exercisable 4,076      
Options and vested $ 15,568