Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options Outstanding, Beginning balance | shares	6,553,594
Options Outstanding, Granted | shares	4,139,204
Options Outstanding, Exercised | shares	(524,774)
Options Outstanding, Forfeited and expired | shares	(410,695)
Options Outstanding, Ending balance | shares	9,757,329
Options Outstanding,Vested and expected to vest | shares	9,757,329
Options Exercisable, Ending balance | shares	4,122,612
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 16.07
Weighted-Average Exercise Price, Granted | $ / shares	19.54
Weighted Average Exercise Price, Exercised | $ / shares	9.00
Weighted Average Exercise Price, Forfeited and expired | $ / shares	19.28
Weighted-Average Exercise Price, Ending balance | $ / shares	17.79
Weighted-Average Exercise Price, Vested and expected to vest | $ / shares	17.79
Weighted-Average Exercise Price, Exercisable | $ / shares	$ 15.90
Weighted-Average Remaining Term, Ending balance	8 years
Weighted-Average Remaining Term, Vested and expected to vest	8 years
Weighted-Average Remaining Term, Exercisable	6 years 7 months 6 days
Aggregate Intrinsic Value, Ending balance | $	$ 23,149
Aggregate Intrinsic Value, Vested and expected to vest | $	23,149
Aggregate Intrinsic Value, Exercisable | $	$ 18,493
Restricted Stock Units
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options Outstanding, Beginning balance | shares	0
Options Outstanding, Granted | shares	319,419
Options Outstanding, Forfeited and expired | shares	(29,108)
Options Outstanding, Ending balance | shares	290,311
Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 0
Weighted-Average Exercise Price, Granted | $ / shares	19.90
Weighted Average Exercise Price, Forfeited and expired | $ / shares	20.02
Weighted-Average Exercise Price, Ending balance | $ / shares	$ 19.88