Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 390,405	$ 373,655
Tax credit carryforwards	65,390	51,925
Capitalized research and development expenditures	71,617	36,886
Operating lease liabilities	36,609	33,790
Business interest carryforwards	1,244	15,762
Stock-based compensation	35,786	27,766
Accrued expenses and reserves	4,650	2,770
Capitalized contract expenditures	32,425	0
Depreciation and amortization	129	3
Other	2,106	919
Gross deferred tax assets	640,361	543,476
Valuation allowance	(552,165)	(477,638)
Total deferred tax assets	88,196	65,838
Deferred tax liabilities:
Right-of-use assets	(33,337)	(31,586)
Deferred commissions	(32,807)	(23,039)
Capitalized internal-use software	(3,909)	(4,638)
Depreciation and amortization	(25,045)	(11,197)
Other	(57)	(73)
Total deferred tax liabilities	(95,155)	(70,533)
Deferred tax liabilities	$ (6,959)	$ (4,695)