Stock-Based Awards - Schedule of Employee Stock Purchase Plan Valuation Assumptions (Details) - Employee Stock Purchase Plan	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rates, minimum	5.10%	0.70%	0.00%
Risk-free interest rates, maximum	5.60%	3.20%	0.10%
Expected term	6 months	6 months	6 months
Volatility, minimum	64.70%	71.90%	61.00%
Volatility, maximum	85.90%	76.30%	65.80%