Income Taxes - Schedule of Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating losses	$ 156,695	$ 136,087
Deferred revenue	22,194	15,907
Stock-based compensation	17,767	17,599
Tax credits	24,174	18,674
Leases	12,296	13,167
Accrued compensation	3,245	1,869
Interest expense	1,860	4,678
Capitalized research and development	22,078	14,076
Other	3,587	49
Total deferred tax assets	263,896	222,106
Valuation allowance	(203,773)	(172,987)
Net deferred tax assets	60,123	49,119
Deferred tax liabilities:
Deferred commissions	(24,289)	(22,112)
Property and equipment	(11,923)	(13,573)
Intangible assets	(24,915)	(14,539)
Other	(600)	(194)
Total deferred tax liabilities	(61,727)	(50,418)
Net deferred tax liabilities	$ (1,604)	$ (1,299)