v3.24.2.u1
Stockholders’ Equity and Stock Option Plans - Summary of Stock Option Activity and Related Information (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Number of Shares Underlying Outstanding Options (in thousands)    
Beginning balance (in shares) | shares 7,079  
Options granted (in shares) | shares 1,544  
Options exercised (in shares) | shares (392)  
Options canceled (in shares) | shares (14)  
Options expired (in shares) | shares (33)  
Ending balance (in shares) | shares 8,184 7,079
Vested (in shares) | shares 5,685  
Weighted-Average Exercise Price    
Beginning balance (in usd per share) | $ / shares $ 9.02  
Options granted (in usd per share) | $ / shares 15.46  
Options exercised (in usd per share) | $ / shares 3.25  
Options canceled (in usd per share) | $ / shares 1.28  
Options expired (in usd per share) | $ / shares 32.97  
Ending balance (in usd per share) | $ / shares 10.43 $ 9.02
Vested (in usd per share) | $ / shares $ 7.73  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Weighted average remaining contractual term (years) 6 years 2 months 4 days 5 years 9 months 10 days
Weighted average remaining contractual term vested (in years) 4 years 11 months 15 days  
Aggregate intrinsic value, awards outstanding | $ $ 92,374 $ 67,418
Aggregate intrinsic value, vested | $ $ 80,794