Stock-Based Compensation - Valuation of Employee Stock Purchase Plan (Details) - ESPP obligation	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 months
Expected dividend yield	0.00%	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility	51.50%	81.80%	46.50%
Risk-free interest rate	5.20%	1.50%	0.00%
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)		6 months	6 months
Expected volatility	76.60%	92.00%	50.80%
Risk-free interest rate	5.40%	4.50%	0.10%