Stockholders' Equity (Deficit) - Schedule of Future Issuance (Details) - shares shares in Thousands	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	148,863	454,958	444,922
Convertible Preferred Stock outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	0	337,235	324,304
Stock options outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	63,267	98,502	99,682
RSUs outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	14,684	3,061	30
PSUs outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	11,500	0	0
Shares available for issuance under Equity Incentive Plan
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	52,811	15,448	19,073
2020 ESPP
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	5,809	0	0
Stock warrants outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	324	324	1,833
Unregistered restricted stock awards outstanding
Class of Stock [Line Items]
Common stock shares reserved for future issuance (in shares)	468	388	0