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Stock-Based Compensation Expense - Schedule of Valuation of ESPP Program (Details) - 2020 ESPP
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 rate, minimum 4.78% 0.71% 0.06%
Risk free interest rate, maximum 5.61% 3.35% 0.25%
Expected volatility rate, minimum 47.92% 54.16% 46.97%
Expected volatility rate, maximum 75.99% 81.51% 56.91%
Dividend yield 0.00% 0.00% 0.00%
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected terms (in years) 5 months 26 days 6 months 5 months 8 days
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected terms (in years) 2 years 2 years 3 days 2 years