Stockholders’ Equity - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of Options
Beginning balance (in shares)	12,547,010
Options granted (in shares)	2,139,321
Options exercised (in shares)	(1,441,787)
Options cancelled and forfeited (in shares)	(627,290)
Ending balance (in shares)	12,617,254	12,547,010
Options exercisable (in shares)	8,754,026
Options vested and expected to vest (in shares)	12,617,254
Weighted-Average Exercise Price Per Share
Options outstanding (in dollars per share)	$ 14.65
Options granted (in dollars per share)	15.82
Options exercised (in dollars per share)	8.93
Options cancelled and forfeited (in dollars per share)	33.41
Options outstanding (in dollars per share)	14.57	$ 14.65
Options exercisable, weighted average exercise price per share (in dollars per share)	9.82
Options vested and expected to vest, weighted average exercise price per share (in dollars per share)	$ 14.57
Weighted-Average Remaining Contractual Life (years)
Options outstanding	6 years 1 month 6 days	6 years 7 months 6 days
Options exercisable	4 years 10 months 24 days
Options vested and expected to vest	6 years 1 month 6 days
Aggregate Intrinsic Value
Balances aggregate intrinsic value	$ 375,897	$ 77,289
Options exercisable	292,002
Options vested and expected to vest	$ 375,897