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Stock-Based Awards - Summary of Restricted Stock Activity (Details) - Restricted Stock Units (RSUs) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Units      
Beginning balance (in shares) 3,330,654    
Granted (in shares) 1,855,090    
Vested and released (in shares) (1,187,054)    
Forfeited (in shares) (363,533)    
Ending balance (in shares) 3,635,157 3,330,654  
Expected to vest (in shares) 3,635,157    
Weighted-Average Fair Value at Date of Grant per Share      
Beginning balance (usd per share) $ 41.39    
Granted (usd per share) 27.38 $ 37.55 $ 68.3
Vested and released (usd per share) 38.60    
Forfeited (usd per share) 36.89    
Ending balance (usd per share) 35.60 $ 41.39  
Expected to vest (usd per share) $ 35.60