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Equity Incentive Plans and Stock-Based Compensation - Schedule of Option Activity Under the 2015 Plan and 2020 Plan (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Number of Options    
Outstanding, beginning balance (in shares) 6,953,487  
Granted (in shares) 1,338,465  
Exercised (in shares) (118,573)  
Forfeited (in shares) (513,519)  
Outstanding, ending balance (in shares) 7,659,860 6,953,487
Number of options, exercisable (in shares) 7,659,860  
Number of options, vested and expected to vest (in shares) 3,651,242  
Weighted- Average Exercise Price per Share    
Outstanding, beginning balance (USD per share) $ 17.95  
Granted (USD per share) 17.29  
Exercised (USD per share) 8.01  
Forfeited (USD per share) 16.87  
Outstanding, ending balance (USD per share) 18.06 $ 17.95
Weighted- average exercise price per share, exercisable (USD per share) 18.06  
Weighted- average exercise price per share, vested and expected to vest (USD per share) $ 15.84  
Weighted- average remaining contractual term (in years), outstanding 7 years 9 months 29 days 7 years 8 months 12 days
Weighted- average remaining contractual term (in years), exercisable 7 years 9 months 29 days  
Weighted- average remaining contractual term (in years), vested and expected to vest 6 years 8 months 12 days  
Aggregate intrinsic value, outstanding balance $ 18,505 $ 32,646
Aggregate intrinsic value, exercisable 18,505  
Aggregate intrinsic value, vested and expected to vest $ 15,456