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Equity Incentive Plans - RSU Activity for the Period (Details) - Restricted Stock Units
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Restricted Stock Units  
Beginning balance (in shares) | shares 1,650,976
Granted (in shares) | shares 2,110,570
Vested (in shares) | shares (314,678)
Cancelled (in shares) | shares (17,718)
Ending balance (in shares) | shares 3,429,150
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Beginning balance (in usd per share) | $ / shares $ 18.23
Granted (in usd per share) | $ / shares 4.59
Vested (in usd per share) | $ / shares 22.08
Cancelled (in usd per share) | $ / shares 10.97
Ending balance (in usd per share) | $ / shares $ 9.52