Stock-Based Compensation - Valuation of Stock Options (Details) - Stock option	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 5 months 26 days
Expected volatility	69.30%	63.30%	63.60%
Risk-free interest rate	3.40%	1.90%	0.30%
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 1 month 6 days	6 years 1 month 6 days	6 years 21 days
Expected volatility	70.50%	67.60%	66.70%
Risk-free interest rate	4.50%	4.40%	1.30%