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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Aggregate intrinsic value, exercised $ 5,800 $ 18,200 $ 244,400
Stock Options      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]      
Shares outstanding, beginning balance (in shares) 17,265    
Granted (in shares) 10,445    
Exercised (in shares) (1,828)    
Expired / cancelled / forfeited (in shares) (2,382)    
Shares outstanding, ending balance (in shares) 23,500 17,265  
Exercisable at December 31, 2022 11,309    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted average exercise prices, beginning balance (in usd per share) $ 7.72    
Weighted average exercise prices, granted (in usd per share) 5.69    
Weighted average exercise prices, exercised (in usd per share) 3.44    
Weighted average exercise prices, expired/ cancelled/ forfeited (in usd per share) 8.77    
Weighted average exercise prices, ending balance (in usd per share) 7.04 $ 7.72  
Weighted average exercise prices, exercisable at December 31, 2022 (in usd per share) $ 7.16    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted average remaining contractual term, outstanding 7 years 10 months 24 days 7 years 3 months 18 days  
Weighted average remaining contractual term, exercisable 6 years 7 months 6 days    
Aggregate intrinsic value, outstanding $ 5,321    
Aggregate intrinsic value, outstanding 20,689 $ 5,321  
Aggregate intrinsic value, exercisable $ 11,059