Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Number of shares outstanding, beginning balance (in shares)	11,454,890
Number of shares, exercised (in shares)	(616,304)
Number of shares outstanding, forfeited or expired (in shares)	(594,814)
Number of shares outstanding, ending balance (in shares)	10,243,772	11,454,890
Options vested and exercisable (in shares)	8,118,408
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in dollars per share)	$ 6.40
Weighted average exercise price, exercised (in dollars per share)	1.34
Weighted average exercise price (in dollars per share)	11.16
Weighted average exercise price, ending balance (in dollars per share)	6.43	$ 6.40
Weighted average exercise price options vested and exercisable, ending balance (in dollars per share)	$ 5.76
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value	$ 1,956	$ 70,231
Options vested and exercisable, intrinsic value	$ 1,956
Weighted average remaining contractual life (in years)	6 years	7 years 4 months 24 days
Weighted average remaining contractual life, options vested and exercisable (in years)	5 years 8 months 12 days
Market and Service Condition Based Options
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Number of shares outstanding, beginning balance (in shares)	4,453,297
Number of shares outstanding, ending balance (in shares)	4,453,297	4,453,297
Options vested and exercisable (in shares)	3,536,630
Weighted Average Exercise Price
Weighted average exercise price, beginning balance (in dollars per share)	$ 12.75
Weighted average exercise price, ending balance (in dollars per share)	12.75	$ 12.75
Weighted average exercise price options vested and exercisable, ending balance (in dollars per share)	$ 10.98
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Total Intrinsic Value	$ 0	$ 17,933
Options vested and exercisable, intrinsic value	$ 0
Weighted average remaining contractual life (in years)	4 years 8 months 12 days	5 years 8 months 12 days
Weighted average remaining contractual life, options vested and exercisable (in years)	4 years 6 months

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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