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Stockholders' Equity - Common Stock Shares Reserved (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Stockholders' Equity    
Total (in shares) 51,855,376 45,722,653
2016 Stock Option and Incentive Plan    
Stockholders' Equity    
Stock-based awards available for grant under 2016 Plan and ESPP (in shares) 20,480,221 19,851,399
Common Stock Class A    
Stockholders' Equity    
Class A common stock reserved (in shares) 464,143 530,449
Stock options issued and outstanding    
Stockholders' Equity    
Stock options issued and outstanding (in shares) 1,778,852 2,277,379
Unvested restricted stock units issued and outstanding    
Stockholders' Equity    
Unvested restricted stock units issued and outstanding (in shares) 20,263,588 15,414,997
Shares of Class A common stock reserved for issuance pursuant to ESPP    
Stockholders' Equity    
Stock-based awards available for grant under 2016 Plan and ESPP (in shares) 8,868,572 7,648,429