Stockholders' Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Options Outstanding
Shares (in shares)	14,450	10,401
Options Exercisable
Shares (in shares)	8,389	8,974
$0.06 – 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)	$ 0.06	$ 0.06
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 0.40	$ 0.40
Options Outstanding
Shares (in shares)	1,830	2,309
Weighted Average Remaining Contractual Life (in Years)	5 years 2 months 15 days	5 years 7 months 20 days
Options Exercisable
Shares (in shares)	1,830	2,308
Weighted Average Remaining Contractual Life (in Years)	5 years 2 months 15 days	5 years 7 months 20 days
1.55 – 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)	$ 1.55	$ 1.55
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 1.75	$ 1.75
Options Outstanding
Shares (in shares)	959	2,120
Weighted Average Remaining Contractual Life (in Years)	6 years 5 months 4 days	7 years 4 months 2 days
Options Exercisable
Shares (in shares)	959	2,006
Weighted Average Remaining Contractual Life (in Years)	6 years 5 months 4 days	7 years 4 months 2 days
2.43 – 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)	$ 2.43	$ 2.43
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 3.11
Options Outstanding
Shares (in shares)	3,037	3,242
Weighted Average Remaining Contractual Life (in Years)	7 years 6 months	8 years 5 months 1 day
Options Exercisable
Shares (in shares)	2,921	3,241
Weighted Average Remaining Contractual Life (in Years)	7 years 5 months 1 day	8 years 5 months 1 day
5.01 – 6.82
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)	$ 5.01
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 6.82
Options Outstanding
Shares (in shares)	6,190
Weighted Average Remaining Contractual Life (in Years)	9 years 2 months 15 days
Options Exercisable
Shares (in shares)	977
Weighted Average Remaining Contractual Life (in Years)	9 years 2 months 1 day
8.13 – 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)	$ 8.13	$ 8.13
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 9.41	$ 9.41
Options Outstanding
Shares (in shares)	1,569	1,756
Weighted Average Remaining Contractual Life (in Years)	8 years 1 month 17 days	8 years 9 months 25 days
Options Exercisable
Shares (in shares)	1,301	1,291
Weighted Average Remaining Contractual Life (in Years)	8 years 14 days	8 years 6 months 14 days
12.21 – 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)	$ 12.21	$ 12.21
Share-based payments arrangement, option, exercise price range, upper range limit (in dollars per share)	$ 15.17	$ 15.17
Options Outstanding
Shares (in shares)	865	974
Weighted Average Remaining Contractual Life (in Years)	8 years 2 months 8 days	9 years 3 months 10 days
Options Exercisable
Shares (in shares)	401	128
Weighted Average Remaining Contractual Life (in Years)	8 years 10 days	9 years 7 days