Condensed Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Common Stock	Additional Paid-in Capital	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Accumulated Deficit Cumulative Effect, Period of Adoption, Adjustment
Beginning balance (in shares) at Dec. 31, 2021			221,833,195
Beginning balance at Dec. 31, 2021	$ 1,326,978	$ 191	$ 22	$ 2,464,730	$ 77	$ (1,137,851)	$ 191
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)			534,019
Issuance of common stock from exercise of options	871			871
Issuance of common stock related to release of RSU and SVAs (in shares)			537,980
Issuance of common stock under the Employee Stock Purchase Plan (in shares)			87,215
Issuance of common stock under the Employee Stock Purchase Plan	1,292			1,292
Vesting of early exercised stock options	21			21
Stock-based compensation	27,527			27,527
Unrealized gain on available-for-sale debt securities, net	0
Foreign currency translation adjustment	199				199
Net loss	(111,903)					(111,903)
Ending balance (in shares) at Mar. 31, 2022			222,992,409
Ending balance at Mar. 31, 2022	1,245,176		$ 22	2,494,441	276	(1,249,563)
Beginning balance (in shares) at Dec. 31, 2022			225,707,557
Beginning balance at Dec. 31, 2022	954,481		$ 22	2,567,723	(3,559)	(1,609,705)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock from exercise of options (in shares)			22,230
Issuance of common stock related to release of RSU and SVAs (in shares)			654,949
Stock-based compensation	16,805			16,805
Unrealized gain on available-for-sale debt securities, net	403				403
Foreign currency translation adjustment	919				919
Net loss	(81,212)					(81,212)
Ending balance (in shares) at Mar. 31, 2023			226,384,736
Ending balance at Mar. 31, 2023	$ 891,396		$ 22	$ 2,584,528	$ (2,237)	$ (1,690,917)