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Income Taxes - Reconciliation of Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
Income tax at the federal statutory rate 21.00% 21.00% 21.00%
State taxes, net of federal benefit 3.40% 1.90% 0.40%
Tax credits 1.70% 1.50% 1.00%
Stock based compensation 0.10% (2.30%) (1.30%)
Foreign withholding tax (0.80%) 0.00% 0.00%
Executive compensation disallowed under IRC Sec 162(m) (1.90%) (1.60%) (1.10%)
Other 0.00% (0.80%) 0.00%
Change in valuation allowance (24.30%) (19.70%) (20.00%)
Income tax provision (0.80%) 0.00% 0.00%