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Stock-Based Compensation - Schedule of RSU Activity (Details) - Restricted stock units (RSUs)
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of Restricted Stock Units  
Unvested beginning balance (in shares) | shares 3,314,420
Granted (in shares) | shares 1,677,009
Forfeited (in shares) | shares (292,959)
Released (in shares) | shares (839,551)
Vested and not yet released (in shares) | shares (371,198)
Unvested ending balance (in shares) | shares 3,487,721
Weighted Average Grant Date Fair Value  
Unvested beginning balance (in dollars per share) | $ / shares $ 29.06
Granted (in dollars per share) | $ / shares 13.27
Forfeited (in dollars per share) | $ / shares 23.27
Released (in dollars per share) | $ / shares 20.82
Vested and not yet released (in dollars per share) | $ / shares 29.48
Unvested ending balance (in dollars per share) | $ / shares $ 23.89