Equity Incentive Plans - Summary of Compensation Costs Related to Stock Options and RSUs Included on Unaudited Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	$ 15,336	$ 14,142	$ 47,352	$ 41,183
Cost of Revenue
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	917	1,058	3,272	2,807
Research and Development
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	5,187	4,382	15,267	13,370
Sales and Marketing
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	3,241	3,357	11,111	10,170
General and Administrative
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation expense	$ 5,991	$ 5,345	$ 17,702	$ 14,836