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Equity Incentive Plans and Stock-Based Compensation - Restricted Stock Units - Narrative (Details) - Restricted stock units
$ in Millions
3 Months Ended
Mar. 31, 2024
USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Unrecognized compensation cost $ 22.9
Unrecognized compensation expense, weighted average period 2 years
Minimum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Vesting period 2 years
Maximum  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Vesting period 3 years