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Net Loss Per Share - Schedule of Dilutive Securities (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock Options      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Stock options outstanding (in shares) 4,138 5,009 2,624
RSUs      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Stock options outstanding (in shares) 247 0 0
PSUs      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Stock options outstanding (in shares) 76 0 0
ESPP      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Stock options outstanding (in shares) 90 0 0