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Stock-Based Awards - Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Options, Number of Shares        
Number of Shares, beginning balance 5,167,164 3,792,450 2,871,498  
Number of Shares, Granted 2,241,550 2,548,750 1,068,100  
Number of Shares, Exercised (71,092) (88,172) (115,548)  
Number of Shares, Forfeited and cancelled (918,167) (1,085,864) (31,600)  
Number of Shares, ending balance 6,419,455 5,167,164 3,792,450 2,871,498
Number of Shares, Options vested and expected to vest 6,419,455      
Number of Shares, Options exercisable 2,879,529      
Options, Weighted Average Exercise Price        
Weighted Average Exercise Price, beginning balance (in dollars per share) $ 16.04 $ 17.50 $ 15.16  
Weighted Average Exercise Price, Granted (in dollars per share) 15.62 14.40 23.44  
Weighted Average Exercise Price, Exercised (in dollars per share) 1.31 1.78 12.63  
Weighted Average Exercise Price, Forfeited and cancelled (in dollars per share) 16.85 18.44 23.26  
Weighted Average Exercise Price, ending balance (in dollars per share) 15.94 $ 16.04 $ 17.50 $ 15.16
Weighted Average Exercise Price, Options vested and expected to vest (in dollars per share) 15.94      
Weighted Average Exercise Price, Options exercisable (in dollars per share) $ 16.55      
Options, Weighted Average Remaining Contractual Term        
Weighted Average Remaining Contractual Term (in years) 7 years 1 month 6 days 7 years 2 months 12 days 6 years 9 months 18 days 6 years 9 months 18 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest (in years) 7 years 1 month 6 days      
Weighted Average Remaining Contractual Term, Options exercisable (in years) 5 years 1 month 6 days      
Aggregate Intrinsic Value        
Aggregate Intrinsic Value $ 14 $ 15,288 $ 13,710 $ 4,890
Aggregate Intrinsic Value, Exercised 473 $ 1,120 $ 1,373  
Aggregate Intrinsic Value, Options vested and expected to vest 14      
Aggregate Intrinsic Value, Options exercisable $ 14      
Weighted average grant-date fair value of stock options granted (in dollars per share) $ 10.98 $ 9.95 $ 15.67