Stock-based Compensation - Schedule of Stock Option Activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Number of Common Stock Options
Outstanding at beginning of period (in shares) | shares	6,199,453
Exercised (in shares) | shares	(223,401)
Cancelled/Forfeited (in shares) | shares	(25,805)
Outstanding at end of period (in shares) | shares	5,950,247
Weighted- Average Exercise Price
Outstanding at beginning of period (in dollars per share) | $ / shares	$ 1.76
Exercised (in dollars per share) | $ / shares	1.67
Cancelled/Forfeited (in dollars per share) | $ / shares	4.27
Outstanding at end of period (in dollars per share) | $ / shares	$ 1.75
Weighted- Average Remaining Contractual Life (Years)
Outstanding balance	5 years 8 months 15 days
Aggregate Intrinsic Value (In Thousands)
Outstanding balance | $	$ 1,749