Net Loss Per Share - Schedule of Antidilutive Securities Excluded from Computation of Earnings per Share (Details) - shares shares in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]
Total common stock equivalents excluded from net income per share attributable to common stockholders – diluted (in shares)	3,351	4,435
Options to purchase common stock
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]
Total common stock equivalents excluded from net income per share attributable to common stockholders – diluted (in shares)	3,344	1,892
Unvested restricted stock units
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]
Total common stock equivalents excluded from net income per share attributable to common stockholders – diluted (in shares)	7	2,451
ESPP
Earnings Per Share, Diluted, by Common Class, Including Two Class Method [Line Items]
Total common stock equivalents excluded from net income per share attributable to common stockholders – diluted (in shares)	0	92