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Stockholders' Equity and Equity Incentive Plans - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Equity [Abstract]    
Balance as of December 31, 2023 14,268,055  
Granted 0  
Exercised (698,858)  
Cancelled/forfeited (64,266)  
Balance as of March 31, 2024 13,504,931 [1] 14,268,055
Balance as of March 31, 2024 [2] 12,191,939  
Balances as of December 31, 2023 $ 4.4  
Granted 0  
Exercised 2.57  
Cancelled/forfeited 4.93  
Balance as of March 31, 2024 4.49 [1] $ 4.4
Exercisable as of Balance as of March 31, 2024 [2] $ 3.84  
Weighted average remaining contractual life (years), outstanding 6 years 21 days [1] 6 years 3 months 7 days
Weighted average remaining contractual life (years), Exercisable [2] 5 years 10 months 13 days  
Balances as of December 31, 2023 $ 118,757  
Balance as of March 31, 2024 86,326 [1] $ 118,757
Exercisable as of March 31, 2024 [2] $ 85,786  
[1] As no forfeitures are estimated due to the Company’s adoption of ASU No. 2016-09, all options are vested or expected to vest. As of March 31, 2024, no options were outstanding that were subject to a future performance condition.
[2] Exercisable shares include vested options as well as unvested shares that can be early exercised.