Stock-Based Compensation - Summary of Information about Stock Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding, Number | shares	11,898,446
Options Exercisable, Number Exercisable | shares	6,084,483
$0.31 - $4.88
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of Exercise Prices, Minimum	$ 0.31
Range of Exercise Prices, Maximum	$ 4.88
Options Outstanding, Number | shares	3,061,004
Options Outstanding, Weighted Average Remaining Contractual Life (in years)	6 years 9 months 25 days
Options Outstanding, Weighted Average Exercise Price	$ 2.80
Options Exercisable, Number Exercisable | shares	2,400,106
Options Exercisable, Weighted Average Exercise Price	$ 2.40
$4.89 - $7.50
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of Exercise Prices, Minimum	4.89
Range of Exercise Prices, Maximum	$ 7.50
Options Outstanding, Number | shares	3,905,574
Options Outstanding, Weighted Average Remaining Contractual Life (in years)	8 years 11 months 26 days
Options Outstanding, Weighted Average Exercise Price	$ 6.57
Options Exercisable, Number Exercisable | shares	366,158
Options Exercisable, Weighted Average Exercise Price	$ 5.83
$7.51 - $13.04
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of Exercise Prices, Minimum	7.51
Range of Exercise Prices, Maximum	$ 13.04
Options Outstanding, Number | shares	3,141,601
Options Outstanding, Weighted Average Remaining Contractual Life (in years)	7 years 3 months 10 days
Options Outstanding, Weighted Average Exercise Price	$ 11.87
Options Exercisable, Number Exercisable | shares	2,149,353
Options Exercisable, Weighted Average Exercise Price	$ 12.19
$13.05 - $88.98
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of Exercise Prices, Minimum	13.05
Range of Exercise Prices, Maximum	$ 88.98
Options Outstanding, Number | shares	1,790,267
Options Outstanding, Weighted Average Remaining Contractual Life (in years)	7 years 6 months 21 days
Options Outstanding, Weighted Average Exercise Price	$ 30.51
Options Exercisable, Number Exercisable | shares	1,168,866
Options Exercisable, Weighted Average Exercise Price	$ 31.32