Stockholders’ Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2022 $ / shares shares
Options Outstanding
Shares (in shares)	14,312
Options Exercisable
Shares (in shares)	8,063
Exercise Price Range $0.06 to $0.40
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 0.06
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 0.40
Options Outstanding
Shares (in shares)	1,842
Weighted Average Remaining Contractual Life  (in Years)	5 years 5 months 4 days
Options Exercisable
Shares (in shares)	1,842
Weighted Average Remaining Contractual Life  (in Years)	5 years 5 months 4 days
Exercise Price Range $1.55 to $1.75
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 1.55
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 1.75
Options Outstanding
Shares (in shares)	1,043
Weighted Average Remaining Contractual Life  (in Years)	6 years 4 months 13 days
Options Exercisable
Shares (in shares)	995
Weighted Average Remaining Contractual Life  (in Years)	6 years 4 months 13 days
Exercise Price Range $2.43 to $3.11
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 2.43
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 3.11
Options Outstanding
Shares (in shares)	3,036
Weighted Average Remaining Contractual Life  (in Years)	7 years 8 months 8 days
Options Exercisable
Shares (in shares)	2,920
Weighted Average Remaining Contractual Life  (in Years)	7 years 7 months 9 days
Exercise Price Range $5.01
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 5.01
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 6.82
Options Outstanding
Shares (in shares)	5,919
Weighted Average Remaining Contractual Life  (in Years)	9 years 5 months 8 days
Options Exercisable
Shares (in shares)	667
Weighted Average Remaining Contractual Life  (in Years)	9 years 4 months 28 days
Exercise Price Range $8.13 to $9.41
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 8.13
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 9.41
Options Outstanding
Shares (in shares)	1,577
Weighted Average Remaining Contractual Life  (in Years)	8 years 4 months 9 days
Options Exercisable
Shares (in shares)	1,270
Weighted Average Remaining Contractual Life  (in Years)	8 years 3 months
Exercise Price Range $12.21 to $15.17
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Share-based payments arrangement, option, exercise price range, lower range limit (in dollars per share) | $ / shares	$ 12.21
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share) | $ / shares	$ 15.17
Options Outstanding
Shares (in shares)	895
Weighted Average Remaining Contractual Life  (in Years)	8 years 4 months 17 days
Options Exercisable
Shares (in shares)	369
Weighted Average Remaining Contractual Life  (in Years)	8 years 1 month 2 days