Stockholders' Equity - Shares Reserved for Future Issuance (Details) - shares shares in Thousands	Mar. 31, 2024	Dec. 31, 2023
Equity Disclosure [Line Items]
Total shares reserved for future issuance	57,438	58,020
Outstanding stock options
Equity Disclosure [Line Items]
Total shares reserved for future issuance	39,580	41,032
Unvested restricted stock unit awards
Equity Disclosure [Line Items]
Total shares reserved for future issuance	6,124	6,507
Incentive Plan
Equity Disclosure [Line Items]
Total shares reserved for future issuance	4,628	3,376
Inducement Plan
Equity Disclosure [Line Items]
Total shares reserved for future issuance	1,903	1,651
ESPP
Equity Disclosure [Line Items]
Total shares reserved for future issuance	5,203	5,454