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Stockholders' Equity and Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Class Of Stock [Line Items]    
Exercise of stock options, shares 698,858  
Total stock-based compensation expense $ 21,064 $ 19,957
Employee Stock Option    
Class Of Stock [Line Items]    
Intrinsic value 5,800 $ 5,200
Weighted-average grant date fair value   $ 6.84
R S Us    
Class Of Stock [Line Items]    
Total stock-based compensation expense 19,700 $ 16,600
Fair value shares vested 20,600 14,400
2014 Stock Option Plan    
Class Of Stock [Line Items]    
Unrecognized share-based compensation expense $ 9,100  
Unrecognized share-based compensation expense recognition period (term) 2 years 1 month 28 days  
Non-employee stock options outstanding 342,000  
2014 Stock Option Plan | R S Us    
Class Of Stock [Line Items]    
Unrecognized share-based compensation expense $ 131,300  
Unrecognized share-based compensation expense recognition period (term) 2 years 10 days  
Non-employee stock options outstanding 143,896  
2021 Incentive Award Plan    
Class Of Stock [Line Items]    
Exercise of stock options, shares 88,000,000  
Purchase price 85.00%  
Options, vesting period 4 years  
2021 Incentive Award Plan | Class A Common Stock    
Class Of Stock [Line Items]    
Shares reserved for issuance 24,635,517  
Purchase price 85.00%  
2021 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Exercise of stock options, shares 800,000  
Total stock-based compensation expense $ 400  
Unrecognized stock-based compensation expense $ 400 $ 600
weighted-average remaining vesting period 4 months 17 days  
2021 Employee Stock Purchase Plan | Class A Common Stock    
Class Of Stock [Line Items]    
Shares reserved for issuance 5,280,091