Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans and Stock-Based Compensation - Narrative (Details)

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Equity Incentive Plans and Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Aggregate intrinsic value of options outstanding $ 2.4   $ 2.3  
Aggregate intrinsic value of options exercised 0.2 $ 3.5    
Grant date fair value of options vested $ 0.1 $ 0.3    
Granted (in shares) 0 0    
Number of shares of common stock reserved for issuance (in shares) 92,957,307   77,183,168  
Reserved for employee stock purchase plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares of common stock reserved for issuance (in shares) 9,955,400   7,371,214  
2021 Stock Option Plan | Shares available for future grant under 2021 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares of common stock reserved for issuance (in shares) 29,230,966   16,041,013  
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 29.9 $ 40.9    
Unrecognized compensation cost, period for recognition 2 years 10 months 24 days 2 years 10 months 24 days    
Unvested RSUs 18,260,000 12,455,000 20,066,000 9,623,000
Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost $ 0.1      
Unvested options (in shares) 500,000      
Unrecognized compensation cost, period for recognition 9 months 18 days