Stock-Based Compensation - Summary of the Stock Based Compensation Expense for Stock Options, RSAs and RSUs Granted to Employees and Nonemployee (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] | |||
| Share-based Payment Arrangement, Expense | $ 43,726 | $ 30,259 | $ 18,928 |
| Research and Development Expense [Member] | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Share-based Payment Arrangement, Expense | 9,286 | 4,916 | 2,510 |
| Selling and Marketing Expense | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Share-based Payment Arrangement, Expense | 11,982 | 7,856 | 5,161 |
| General and Administrative Expense | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Share-based Payment Arrangement, Expense | $ 22,458 | $ 17,487 | $ 11,257 |