Stockholders’ Equity and Equity Incentive Plans - Summary of Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022
Number of Shares Underlying Outstanding Options
Beginning balance (in shares)	6,476	6,476
Options granted (in shares)		1,375
Options exercised (in shares)		(575)
Options canceled (in shares)		(180)
Options expired (in shares)		(17)
Ending balance (in shares)		7,079	6,476
Vested (in shares)		5,594
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 7.38	$ 7.38
Options granted (in usd per share)		15.33
Options exercised (in usd per share)		2.69
Options canceled (in usd per share)		16.09
Options expired (in usd per share)		32.14
Ending balance (in usd per share)		9.02	$ 7.38
Vested (in usd per share)		$ 6.65
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (years)	6 years 1 month 6 days	5 years 9 months 10 days
Weighted average remaining contractual term vested (in years)		5 years 18 days
Aggregate intrinsic value, awards outstanding		$ 67,418	$ 55,516
Aggregate intrinsic value, vested		$ 64,803

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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