Equity Incentive Plans - Schedule of Recorded Stock-Based Compensation Expense in the Condensed Consolidated Statement of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share-based Payment Arrangement, Expensed [Line Items]
Total stock-based compensation expense	$ 38,492	$ 45,696	$ 74,621	$ 87,797
Cost of revenue
Share-based Payment Arrangement, Expensed [Line Items]
Total stock-based compensation expense	2,247	1,835	4,280	3,296
Research and development
Share-based Payment Arrangement, Expensed [Line Items]
Total stock-based compensation expense	17,862	19,560	34,750	37,340
Selling, general and administrative
Share-based Payment Arrangement, Expensed [Line Items]
Total stock-based compensation expense	$ 18,383	$ 24,301	$ 35,591	$ 47,161