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Net Income (Loss) Per Share - Potentially Dilutive Common Stock Equivalents (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock options outstanding      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potentially dilutive common stock equivalents (in shares) 3,748,877 6,865,265 6,329,822
Unvested RSAs, RSUs, and PSUs      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Potentially dilutive common stock equivalents (in shares) 1,558,847 1,328,714 345,026