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Stockholders' Equity- Option Activity (Details) - Employee, excluding CEO - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Shares    
Beginning balance (in shares) 10,401  
Granted (in shares) 6,321  
Exercised (in shares) (1,728)  
Forfeited and expired (in shares) (544)  
Ending balance (in shares) 14,450 10,401
Exercisable at the end of the period (in shares) 8,389  
Weighted Average Exercise Price    
Beginning balance (in USD per share) $ 4.01  
Granted (in USD per share) 5.10  
Exercised (in USD per share) 1.42  
Forfeited and expired (in USD per share) 6.97  
Ending balance (in USD per share) 4.68 $ 4.01
Exercisable at the end of the period (in USD per share) $ 3.81  
Weighted Average Contractual Period (in Years)    
Outstanding balance (in years) 7 years 11 months 23 days 7 years 8 months 23 days
Exercisable at the end of the period (in years) 7 years 1 month 28 days  
Aggregate Intrinsic Value    
Outstanding balance $ 35,771 $ 37,868
Exercisable at the end of the period $ 28,509