Stockholders' Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Options Outstanding
Shares (in shares)	13,784	14,450
Options Exercisable
Shares (in shares)	9,688	8,389
$0.06 – 0.40
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 0.06	$ 0.06
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 0.40	$ 0.40
Options Outstanding
Shares (in shares)	1,422	1,830
Weighted Average Remaining Contractual Life (in Years)	4 years 2 months 23 days	5 years 2 months 15 days
Options Exercisable
Shares (in shares)	1,422	1,830
Weighted Average Remaining Contractual Life (in Years)	4 years 2 months 23 days	5 years 2 months 15 days
1.55 – 1.75
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 1.55	$ 1.55
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 1.75	$ 1.75
Options Outstanding
Shares (in shares)	760	959
Weighted Average Remaining Contractual Life (in Years)	5 years 4 months 13 days	6 years 5 months 4 days
Options Exercisable
Shares (in shares)	760	959
Weighted Average Remaining Contractual Life (in Years)	5 years 4 months 13 days	6 years 5 months 4 days
2.43 – 3.11
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 2.43	$ 2.43
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 3.11	$ 3.11
Options Outstanding
Shares (in shares)	2,751	3,037
Weighted Average Remaining Contractual Life (in Years)	6 years 5 months 4 days	7 years 6 months
Options Exercisable
Shares (in shares)	2,751	2,921
Weighted Average Remaining Contractual Life (in Years)	6 years 5 months 4 days	7 years 5 months 1 day
5.01 – 6.82
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 5.01	$ 5.01
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 6.82	$ 6.82
Options Outstanding
Shares (in shares)	5,913	6,190
Weighted Average Remaining Contractual Life (in Years)	8 years 2 months 4 days	9 years 2 months 15 days
Options Exercisable
Shares (in shares)	2,690	977
Weighted Average Remaining Contractual Life (in Years)	8 years 2 months 4 days	9 years 2 months 1 day
8.13 – 11.53
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 8.13	$ 8.13
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 11.53	$ 9.41
Options Outstanding
Shares (in shares)	2,127	1,569
Weighted Average Remaining Contractual Life (in Years)	7 years 8 months 4 days	8 years 1 month 17 days
Options Exercisable
Shares (in shares)	1,499	1,301
Weighted Average Remaining Contractual Life (in Years)	7 years 2 months 12 days	8 years 14 days
12.21 – 15.17
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share)	$ 12.21	$ 12.21
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 15.17	$ 15.17
Options Outstanding
Shares (in shares)	811	865
Weighted Average Remaining Contractual Life (in Years)	7 years 3 months 25 days	8 years 2 months 8 days
Options Exercisable
Shares (in shares)	566	401
Weighted Average Remaining Contractual Life (in Years)	7 years 3 months 21 days	8 years 10 days