Stock Incentive Plan and Stock-based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 31,206 | $ 26,905 | $ 16,105 |
| Research and development expense | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 3,962 | 2,614 | 2,121 |
| Sales and marketing expense | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 5,148 | 3,886 | 3,103 |
| General and administrative expense | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 22,096 | $ 20,405 | $ 10,881 |