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Common Stock and Stockholders' Equity - Assumptions Used for Estimate of Fair Value of Options (Details) - Stock options - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Volatility, minimum 65.60% 56.70% 56.10%
Volatility, maximum 68.20% 68.70% 58.10%
Expected term (in years) 4 years 3 months 18 days 4 years 1 month 6 days 4 years 1 month 6 days
Risk-free interest rate, minimum 3.68% 1.13% 0.31%
Risk-free interest rate, maximum 4.67% 4.36% 1.02%
Dividend yield 0.00% 0.00% 0.00%
Weighted-average fair value of underlying stock options (in dollars per share) $ 11.45 $ 17.48 $ 67.37