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Equity Plans - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended 12 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Options Outstanding    
Options Outstanding, Beginning balance 5,890,540  
Options Outstanding, Options granted 1,596,600  
Options Outstanding, Options exercised (378,272)  
Options Outstanding, Options forfeited (667,453)  
Options Outstanding, Ending balance 6,441,415 5,890,540
Options Outstanding, Options exercisable 3,784,700  
Options Outstanding, Options vested and expected to vest 6,441,415  
Weighted-Average Exercise Price Per Share    
Weighted-Average Exercise Price Per Share, Beginning balance $ 17.66  
Weighted-Average Exercise Price Per Share, Options granted 23.87  
Weighted-Average Exercise Price Per Share, Options exercised 8.05  
Weighted-Average Exercise Price Per Share, Options forfeited 22.25  
Weighted-Average Exercise Price Per Share, Ending balance 19.29 $ 17.66
Weighted-Average Exercise Price Per Share, Options exercisable 16.28  
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 19.29  
Weighted-Average Remaining Contractual Life (years)    
Weighted-Average Remaining Contractual Life (years) 7 years 2 months 23 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 1 month 13 days  
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 2 months 1 day 7 years 5 months 19 days
Aggregate Intrinsic Value    
Aggregate Intrinsic Value, Options Outstanding $ 2.3 $ 102.7
Aggregate Intrinsic Value, Options exercisable 2.1  
Aggregate Intrinsic Value, Options vested and expected to vest $ 2.3  
Options, weighted-average grant-date fair value $ 18.67