Equity Incentive Plans - Unrecognized Stock-Based Compensation (Details) $ in Thousands	3 Months Ended
Mar. 31, 2023 USD ($)
Options to purchase common stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 21,127
Average Remaining Vesting Period (Years)	3 years 2 months 12 days
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 7,309
Average Remaining Vesting Period (Years)	3 years 3 months 18 days
ESPP shares issuable
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Compensation Expense	$ 292
Average Remaining Vesting Period (Years)	3 months 18 days

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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