Equity Incentive Plans - Activity of Stock Options for the Period (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Options Outstanding
Beginning balance (in shares)	9,832,924
Options granted (in shares)	3,356,254
Options exercised (in shares)	(974,307)
Options forfeited (in shares)	(2,000,441)
Ending balance (in shares)	10,214,430	9,832,924
Vested and exercisable (in shares)	4,412,694
Weighted-Average Exercise Price
Beginning balance (in dollars per share)	$ 12.49
Options granted (in usd per share)	13.53
Options exercised (in usd per share)	3.22
Options forfeited (in usd per share)	11.55
Ending balance (in dollars per share)	13.90	$ 12.49
Vested and exercisable (in usd per share)	$ 8.11
Options outstanding, Weighted Average Remaining Term (Years)	8 years	8 years 5 months 23 days
Options vested and exercisable, Weighted Average Remaining Term (Years)	7 years 3 months 14 days
Options outstanding, Aggregate Intrinsic Value	$ 12,685	$ 139,143
Options vested and exercisable, Aggregate Intrinsic Value	$ 9,323

No definition available.

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- Definition

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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- Definition

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.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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Weighted average price of options that were either forfeited or expired.

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- Definition

Gross number of share options (or share units) granted during the period.

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- Definition

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

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- Definition

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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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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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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