Stockholders' Equity (Deficit) - Schedule of Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award
Shares reserved for future issuance (in shares)	23,669,127	19,649,598
The 2013 Plan
Share-based Compensation Arrangement by Share-based Payment Award
Shares reserved for future issuance (in shares)	2,257,711	1,466,603
The 2013 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award
Shares reserved for future issuance (in shares)	2,179,399	2,186,097
Employee stock option
Share-based Compensation Arrangement by Share-based Payment Award
Shares reserved for future issuance (in shares)	18,336,656	15,076,365
Restricted stock units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award
Shares reserved for future issuance (in shares)	895,361	920,533