Stock Incentive Plans - Summary of Stock Option Activity Under Stock Incentive Plan (Details) - Stock Options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Options
Balance at the beginning of the period (in shares)	36,156,445	44,185,488	23,421,374
Granted (in shares)	6,080,148	4,182,522	29,113,555
Exercised (in shares)	(3,353,103)	(7,785,748)	(4,277,344)
Canceled and forfeited (in shares)	(2,212,852)	(4,425,817)	(4,072,097)
Balance at the end of the period (in shares)	36,670,638	36,156,445	44,185,488	23,421,374
Number of options, Exercisable	10,677,680
Weighted-Average Exercise Price per Share
Balance at the beginning of the period (in dollars per share)	$ 16.37	$ 13.31	$ 1.35
Granted (in dollars per share)	5.35	10.16	20.07
Exercised (in dollars per share)	1.58	1.20	1.18
Canceled and forfeited (in dollars per share)	13.24	6.60	5.58
Balance at the end of the period (in dollars per share)	16.09	$ 16.37	$ 13.31	$ 1.35
Exercisable, Weighted-Average Exercise Price, Per Share (in dollars per share)	$ 11.62
Option Activity, Additional Disclosures
Options outstanding, weighted average remaining contractual life (in years)	7 years 5 months 12 days	7 years 8 months 1 day	8 years 5 months 15 days	8 years 3 months 29 days
Exercisable, Weighted Average Remaining Contractual Life (in years)	7 years 1 month 13 days
Options outstanding, aggregate intrinsic value (in USD)	$ 24,481	$ 29,101	$ 279,242	$ 248,002
Exercisable, Aggregate Intrinsic Value	$ 17,426
Options vested as of December 31, 2022, number of options (in shares)	8,355,940
Options vested as of December 31, 2022, exercise price per share (in dollars per share)	$ 10.12
Options vested, weighted average remaining contractual life (in years)	6 years 10 months 2 days
Options vested, as of December 3 2022, aggregate intrinsic value (in USD)	$ 15,917