Stock-Based Compensation Plan - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning balance (in shares)		7,578,635	8,805,850
Options granted (in shares)		1,295,948	715,352
Options exercised (in shares)		(1,099,160)	(1,224,564)
Options forfeited (in shares)		(363,937)	(641,036)
Options expired (in shares)		(191,784)	(76,967)
Options outstanding, ending balance (in shares)	7,219,702	7,219,702	7,578,635	8,805,850
Options exercisable (in shares)	4,628,353	4,628,353
Weighted-average exercise price
Weighted average exercise price, beginning balance (in dollars per share)		$ 7.76	$ 6.56
Weighted average exercise price, options granted (in dollars per share)		10.09	12.43
Weighted average exercise price, options exercised (in dollars per share)	$ 6.49	1.33	1.07
Weighted average exercise price, options forfeited (in dollars per share)		12.36	9.85
Weighted average exercise price, options expired (in dollars per share)		14.60	2.33
Weighted average exercise price, ending balance (in dollars per share)	8.74	8.74	$ 7.76	$ 6.56
Weighted average exercise price, options exercisable (in dollars per share)	$ 7.10	$ 7.10
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted-average remaining contractual term (in years)		6 years 10 months 24 days	7 years 5 months 1 day	8 years 10 days
Stock options exercisable, weighted average remaining contractual term		6 years 2 months 15 days
Stock options outstanding, aggregate intrinsic value, beginning balance		$ 37,200	$ 147,623
Stock options outstanding, aggregate intrinsic value, ending balance	$ 23,574	23,574	$ 37,200	$ 147,623
Stock options exercisable, aggregate intrinsic value	$ 21,212	$ 21,212