Stock-Based Compensation - Summary of 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
Number of Options
Outstanding, beginning balance (in shares)	5,217	6,257
Granted (in shares)	0	942
Exercised (in shares)	(775)	(1,401)
Canceled (in shares)	(199)	(581)
Outstanding, ending balance (in shares)	4,243	5,217	6,257
Options vested and exercisable (in shares)	3,596
Options vested and expected to vest (in dollars per share)	4,243
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 16.08	$ 13.60
Granted (in dollars per share)	0	28.10
Exercised (in dollars per share)	6.58	8.04
Canceled (in dollars per share)	29.58	28.17
Outstanding, ending balance (in dollars per share)	17.19	$ 16.08	$ 13.60
Options vested and exercisable (in dollars per share)	14.53
Options vested and expected to vest (in dollars per share)	$ 17.19
Weighted Average Remaining Contractual Life
Weighted-average remaining contractual life, options outstanding	4 years 10 months 6 days	5 years 8 months 4 days	6 years 2 months 8 days
Weighted-average remaining contractual life, options vested and exercisable	4 years 3 months 14 days
Weighted-average remaining contractual life, options vested and expected to vest	4 years 10 months 6 days
Aggregate intrinsic value, options outstanding	$ 31,762	$ 58,784	$ 140,326
Aggregate intrinsic value, options vested and exercisable	31,395
Aggregate intrinsic value, options vested and expected to vest	$ 31,762