Stock-Based Compensation - Summary of Shares Available for Future Issuances (Details) - 2021 Equity Incentive Plan - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares available, Beginning Balance	12,854	15,074
Shares available, Ending Balance	8,310	12,854
Stock Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares issued, net	(2,704)	(175)
RSUs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares issued, net	(1,840)	(2,045)