Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Number of shares outstanding, beginning balance (in shares)	10,243,772
Number of shares outstanding, beginning balance (in shares)	636,298
Number of shares, exercised (in shares)	(339,842)
Number of shares outstanding, forfeited or expired (in shares)	(64,621)
Number of shares outstanding, ending balance (in shares)	10,475,607	10,243,772
Options vested and exercisable (in shares)	9,172,874
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in dollars per share)	$ 6.43
Weighted average exercise price, granted (in dollars per share)	2.02
Weighted average exercise price, exercised (in dollars per share)	1.10
Weighted average exercise price (in dollars per share)	10.67
Weighted average exercise price, ending balance (in dollars per share)	6.31	$ 6.43
Weighted average exercise price options vested and exercisable, ending balance (in dollars per share)	$ 6.48
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value	$ 6,534	$ 1,956
Options vested and exercisable, intrinsic value	$ 5,796
Weighted average remaining contractual life (in years)	5 years 3 months 18 days	6 years
Weighted average remaining contractual life, options vested and exercisable (in years)	5 years 4 months 24 days
Market and Service Condition Based Options
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Number of shares outstanding, beginning balance (in shares)	4,453,297
Number of shares outstanding, beginning balance (in shares)	0	0	1,375,000
Number of shares outstanding, ending balance (in shares)	4,453,297	4,453,297
Options vested and exercisable (in shares)	3,994,964
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in dollars per share)	$ 12.75
Weighted average exercise price, ending balance (in dollars per share)	12.75	$ 12.75
Weighted average exercise price options vested and exercisable, ending balance (in dollars per share)	$ 11.96
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value	$ 0	$ 0
Options vested and exercisable, intrinsic value	$ 0
Weighted average remaining contractual life (in years)	3 years 8 months 12 days	4 years 8 months 12 days
Weighted average remaining contractual life, options vested and exercisable (in years)	3 years 7 months 6 days