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Stock-Based Compensation - Schedule of Employee Stock Purchase Plan Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Stock based compensation expense $ 10,766 $ 8,661
ESPP    
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Stock based compensation expense $ 193 $ 270