Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Number of Options
Outstanding, beginning balance (in shares)	4,243
Granted (in shares)	0
Exercised (in shares)	(163)
Canceled (in shares)	(12)
Outstanding, ending balance (in shares)	4,068	4,243
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 17.19
Granted (in dollars per share)	0
Exercised (in dollars per share)	5.95
Canceled (in dollars per share)	29.48
Outstanding, ending balance (in dollars per share)	$ 17.60	$ 17.19
Weighted-average remaining contractual life, options outstanding	4 years 9 months 3 days	4 years 10 months 6 days
Aggregate intrinsic value, options outstanding	$ 12,817	$ 31,762
Options vested and exercisable (in shares)	3,544
Options vested and exercisable (in dollars per share)	$ 15.31
Weighted-average remaining contractual life, options vested and exercisable	4 years 3 months 21 days
Aggregate intrinsic value, options vested and exercisable	$ 12,817