Stockholders' Equity - Reserve for Unissued Shares of Common Stock (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Outstanding stock options	2,240,898
Additional shares reserved for maximum payout of outstanding performance stock units	1,774,892
Additional shares available for grant under the equity plan	22,770,982
Future issuance	35,068,838
Restricted Stock Units (RSUs)
Class of Stock [Line Items]
Outstanding restricted stock units	5,763,510	7,519,112
Performance Stock Units
Class of Stock [Line Items]
Outstanding restricted stock units	2,518,556	2,488,757