Stockholders’ Equity - Exercise Price Range of Options Outstanding and Exercisable (Details) shares in Thousands	6 Months Ended
	Jun. 30, 2023 $ / shares shares
Options Outstanding
Shares (in shares)	14,579
Options Exercisable
Shares (in shares)	9,430
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)	1,706
Weighted Average Remaining Contractual Life  (in Years)	4 years 8 months 19 days
Options Exercisable
Shares (in shares)	1,706
Weighted Average Remaining Contractual Life  (in Years)	4 years 8 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)	878
Weighted Average Remaining Contractual Life  (in Years)	5 years 11 months 26 days
Options Exercisable
Shares (in shares)	878
Weighted Average Remaining Contractual Life  (in Years)	5 years 11 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)	3,021
Weighted Average Remaining Contractual Life  (in Years)	7 years 3 days
Options Exercisable
Shares (in shares)	2,944
Weighted Average Remaining Contractual Life  (in Years)	6 years 11 months 15 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)	6,005
Weighted Average Remaining Contractual Life  (in Years)	8 years 6 months 21 days
Options Exercisable
Shares (in shares)	2,042
Weighted Average Remaining Contractual Life  (in Years)	8 years 3 months 18 days
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)	2,138
Weighted Average Remaining Contractual Life  (in Years)	8 years 2 months 8 days
Options Exercisable
Shares (in shares)	1,379
Weighted Average Remaining Contractual Life  (in Years)	7 years 7 months 9 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)	831
Weighted Average Remaining Contractual Life  (in Years)	7 years 9 months 25 days
Options Exercisable
Shares (in shares)	481
Weighted Average Remaining Contractual Life  (in Years)	7 years 9 months 18 days