Stock-Based Compensation Expense - Schedule of the Company's Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares Subject to Options
Beginning balance (in shares)	51,591	63,267	98,502
Granted (in shares)	0	0	0
Cancelled, forfeited, and expired (in shares)	(762)	(2,061)	(1,862)
Exercised (in shares)	(10,670)	(9,615)	(33,373)
Ending balance (in shares)	40,159	51,591	63,267	98,502
Exercisable (in shares)	37,753
Vested and expected to vest (in shares)	40,159
Weighted- Average Exercise Price (per Option)
Beginning balance, weighted average exercise price (in dollars per share)	$ 2.85	$ 2.82	$ 2.55
Granted, weighted average exercise price (in dollars per share)	0	0	0
Cancelled, forfeited, and expired, weighted average exercise price (in dollars per share)	4.60	4.06	3.95
Exercised, weighted average exercise price (in dollars per share)	2.23	2.37	1.95
Ending balance, weighted average exercise price (in dollars per share)	2.98	$ 2.85	$ 2.82	$ 2.55
Exercisable, weighted average exercise price (in dollars per share)	2.86
Vested and expected to vest, weighted average exercise price (in dollars per share)	$ 2.98
Weighted-Average Remaining Contractual Term (Years)	5 years 1 month 28 days	6 years	6 years 11 months 19 days	7 years 9 months 3 days
Exercisable, remaining contractual term	5 years 29 days
Vested and expected to vest, remaining contractual term	5 years 1 month 28 days
Aggregate intrinsic value	$ 1,716,171	$ 1,321,183	$ 6,348,395	$ 3,838,994
Exercisable, aggregate intrinsic value	1,618,078
Vested and expected to vest, aggregate intrinsic value	$ 1,716,171