Equity Incentive Plans - Stock Options (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Number of Shares
Options outstanding balance, beginning (in shares) | shares	13,963,000
Options granted (in shares) | shares	6,472,000
Options exercised (in shares) | shares	(36,000)
Options forfeited or canceled (in shares) | shares	(56,000)
Options outstanding balance, ending (in shares) | shares	20,343,000
Options exercisable (in shares) | shares	9,185,000
Weighted-Average Exercise Price per Share
Options outstanding balance, beginning (in dollars per share) | $ / shares	$ 4.83
Options granted (in dollars per share) | $ / shares	2.78
Options exercised (in dollars per share) | $ / shares	1.65
Options forfeited or canceled (in dollars per share) | $ / shares	5.84
Options outstanding balance, ending (in dollars per share) | $ / shares	4.18
Options exercisable (in dollars per share) | $ / shares	$ 5.97