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Stockholders' Equity - Schedule of Assumptions Used to Determine the Fair Value of Employee Stock Options (Details) - Option - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Expected volatility 60.54% 60.32% 49.30%
Expected dividend yield 0.00% 0.00% 0.00%
Risk-free interest rate 4.14% 3.16% 0.28%
Grant date fair value per option $ 3.09 $ 3.82 $ 7.60
Employee | 2021 Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Expected volatility   50.33%  
Expected dividend yield   0.00%  
Risk-free interest rate   0.79%  
Grant date fair value per option   $ 3.42