Equity Incentive Plan - Schedule of Exercise Prices and Weighted-average Remaining Contractual Lives for Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Options Outstanding (in shares) | shares	24,574,862
Weighted- Average Remaining Contractual Life (Year)	7 years 6 months 29 days
Weighted- Average Exercise Price (in dollars per share)	$ 7.06
Options Exercisable (in shares) | shares	11,390,275
Weighted- Average Exercise Price of Options Exercisable	$ 12.87
Exercise Price Range 1
Options Outstanding (in shares) | shares	6,179,628
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 0.97
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 1.51
Weighted- Average Remaining Contractual Life (Year)	9 years 6 months 3 days
Weighted- Average Exercise Price (in dollars per share)	$ 1.25
Options Exercisable (in shares) | shares	344,006
Weighted- Average Exercise Price of Options Exercisable	$ 1.3
Exercise Price Range 2
Options Outstanding (in shares) | shares	7,660,800
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 1.52
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 2.28
Weighted- Average Remaining Contractual Life (Year)	9 years 3 months 10 days
Weighted- Average Exercise Price (in dollars per share)	$ 1.77
Options Exercisable (in shares) | shares	2,001,281
Weighted- Average Exercise Price of Options Exercisable	$ 1.78
Exercise Price Range 3
Options Outstanding (in shares) | shares	3,406,724
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 2.32
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 3.48
Weighted- Average Remaining Contractual Life (Year)	7 years 8 months 4 days
Weighted- Average Exercise Price (in dollars per share)	$ 2.99
Options Exercisable (in shares) | shares	2,182,510
Weighted- Average Exercise Price of Options Exercisable	$ 3.05
Exercise Price Range 4
Options Outstanding (in shares) | shares	83,323
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 3.61
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 5.42
Weighted- Average Remaining Contractual Life (Year)	8 years 7 months 9 days
Weighted- Average Exercise Price (in dollars per share)	$ 4.08
Options Exercisable (in shares) | shares	34,239
Weighted- Average Exercise Price of Options Exercisable	$ 4.09
Exercise Price Range 5
Options Outstanding (in shares) | shares	21,459
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 5.5
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 8.25
Weighted- Average Remaining Contractual Life (Year)	7 years 7 months 24 days
Weighted- Average Exercise Price (in dollars per share)	$ 5.84
Options Exercisable (in shares) | shares	10,059
Weighted- Average Exercise Price of Options Exercisable	$ 5.81
Exercise Price Range 6
Options Outstanding (in shares) | shares	1,100,494
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 8.8
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 13.2
Weighted- Average Remaining Contractual Life (Year)	3 years 6 months 25 days
Weighted- Average Exercise Price (in dollars per share)	$ 11.18
Options Exercisable (in shares) | shares	996,018
Weighted- Average Exercise Price of Options Exercisable	$ 11.2
Exercise Price Range 7
Options Outstanding (in shares) | shares	3,116,010
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 13.5
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 20.25
Weighted- Average Remaining Contractual Life (Year)	4 years 1 month 17 days
Weighted- Average Exercise Price (in dollars per share)	$ 16.1
Options Exercisable (in shares) | shares	2,817,050
Weighted- Average Exercise Price of Options Exercisable	$ 16.16
Exercise Price Range 8
Options Outstanding (in shares) | shares	2,828,424
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 20.93
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 31.4
Weighted- Average Remaining Contractual Life (Year)	4 years 3 months 3 days
Weighted- Average Exercise Price (in dollars per share)	$ 25.72
Options Exercisable (in shares) | shares	2,827,112
Weighted- Average Exercise Price of Options Exercisable	$ 25.72
Exercise Price Range 9
Options Outstanding (in shares) | shares	178,000
Range of Exercise Prices, Lower Limit (in dollars per share)	$ 31.45
Range of Exercise Prices, Upper Limit (in dollars per share)	$ 41.18
Weighted- Average Remaining Contractual Life (Year)	3 years 2 months 1 day
Weighted- Average Exercise Price (in dollars per share)	$ 35.45
Options Exercisable (in shares) | shares	178,000
Weighted- Average Exercise Price of Options Exercisable	$ 35.45