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Equity Plans and Stock-based Compensation - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
Jun. 14, 2021
Jun. 11, 2021
Jun. 30, 2021
Mar. 31, 2020
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options exercisable, Number of options (in shares)         12,216,812   11,822,253      
Awards granted (in shares)         2,075,398   758,528 726,309 5,829,698  
Awards outstanding (in shares)         15,912,092   14,256,697 18,101,584 20,178,784 18,208,313
Stock-based compensation expense         $ 4,314,000 $ 4,642,000 $ 21,840,000 $ 16,061,000 $ 10,282,000  
Total intrinsic value of stock options exercised         100,000   10,900,000 12,100,000 4,300,000  
Total estimated grant date fair value of stock options vested         2,400,000   9,300,000 13,800,000 $ 9,900,000  
Unrecognized stock-based compensation expense         $ 11,700,000   $ 12,900,000      
Unrecognized stock-based compensation expense, period for recognition             1 year 9 months 18 days      
Equity Incentive Plan 2010                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options exercisable, Number of options (in shares) 22,532,619                  
Common stock reserved for the Plan (in shares)   387,531                
2010 Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Options exercisable, Number of options (in shares) 22,532,619       16,331,367   16,642,864      
Common stock reserved for the Plan (in shares)             387,531      
2021 Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for the Plan (in shares)   10,000,000                
Annual percentage increase in shares reserved   4.00%         4.00%      
Additional shares authorized (in shares)         9,050,606 8,878,388        
Exercise price, percent of fair market value for greater than ten percent shareholders         110.00%   110.00%      
2021 Equity Incentive Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for the Plan (in shares)             10,000,000      
Number of shares that may be issued (in shares)         30,000,000   30,000,000      
Employee Stock Purchase Plan                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Common stock reserved for the Plan (in shares)   1,630,000         1,630,000      
Annual percentage increase in shares reserved   1.00%         1.00%      
Additional shares authorized (in shares)         2,262,651 2,219,597        
Number of shares that may be issued (in shares)   16,300,000         16,300,000      
Stock-based compensation expense         $ 300,000 $ 300,000 $ 1,300,000 $ 200,000    
ESPP, percentage of eligible compensation         15.00%   15.00%      
ESPP, purchase price percentage         85.00%   85.00%      
ESPP, maximum shares that may be purchased         2,500   2,500      
ESPP, offering period             6 months      
ESPP, maximum amount that may be purchased         $ 25,000   $ 25,000      
Shares issued ESPP (in shares)             649,492      
Stock options and RSUs to purchase common stock                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award expiration period         10 years   10 years      
Unrecognized stock-based compensation expense, period for recognition         2 years 7 months 6 days          
Stock options and RSUs to purchase common stock | Greater than 10% stockholder                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award expiration period         5 years   5 years      
Restricted stock units (RSUs)                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award vesting period         4 years   4 years      
Unrecognized stock-based compensation expense, RSUs         $ 34,200,000   $ 33,700,000      
Unrecognized stock-based compensation expense, period for recognition         3 years 2 months 12 days   3 years      
CEO Equity Awards                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Awards granted (in shares)       4,685,624            
CEO Time-Based Awards at $4.75                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award vesting period       4 years            
Awards granted (in shares)       1,338,749            
Award exercise price (in dollars per share)       $ 5.33            
CEO Time-Based Awards at $10 to $25                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award vesting period       4 years            
Awards outstanding (in shares)       2,677,500 2,677,500     2,677,500    
CEO Time-Based Awards at $10 to $25 | Tranche One                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award exercise price (in dollars per share)       $ 11.21            
CEO Time-Based Awards at $10 to $25 | Tranche Two                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award exercise price (in dollars per share)       16.81            
CEO Time-Based Awards at $10 to $25 | Tranche Three                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award exercise price (in dollars per share)       22.41            
CEO Time-Based Awards at $10 to $25 | Tranche Four                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award exercise price (in dollars per share)       28.02            
Milestone Options                    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                    
Award exercise price (in dollars per share)       $ 5.33            
Awards outstanding (in shares)       669,375 669,375     669,375    
Number of shares that fully vested (in shares) 669,375                  
Stock-based compensation expense     $ 2,100,000              
Unrecognized stock-based compensation expense $ 2,100,000