Stockholders’ Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) shares in Thousands	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Options Outstanding
Shares (in shares)	14,920
Options Exercisable
Shares (in shares)	8,995
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)	1,807
Weighted Average Remaining Contractual Life  (in Years)	4 years 11 months 19 days
Options Exercisable
Shares (in shares)	1,807
Weighted Average Remaining Contractual Life  (in Years)	4 years 11 months 19 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)	895
Weighted Average Remaining Contractual Life  (in Years)	6 years 2 months 26 days
Options Exercisable
Shares (in shares)	895
Weighted Average Remaining Contractual Life  (in Years)	6 years 2 months 26 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)	3,035
Weighted Average Remaining Contractual Life  (in Years)	7 years 3 months
Options Exercisable
Shares (in shares)	2,951
Weighted Average Remaining Contractual Life  (in Years)	7 years 2 months 12 days
Exercise Price Range $5.01 to $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) | $ / 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)	6,188
Weighted Average Remaining Contractual Life  (in Years)	8 years 11 months 19 days
Options Exercisable
Shares (in shares)	1,582
Weighted Average Remaining Contractual Life  (in Years)	8 years 11 months 1 day
Exercise Price Range $8.13 to $11.53
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	$ 11.53
Options Outstanding
Shares (in shares)	2,153
Weighted Average Remaining Contractual Life  (in Years)	8 years 5 months 4 days
Options Exercisable
Shares (in shares)	1,321
Weighted Average Remaining Contractual Life  (in Years)	7 years 9 months 3 days
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)	842
Weighted Average Remaining Contractual Life  (in Years)	7 years 11 months 26 days
Options Exercisable
Shares (in shares)	439
Weighted Average Remaining Contractual Life  (in Years)	7 years 10 months 28 days