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Basic and Diluted Net Loss Per Share - Potential Shares of Common Stock Excluded from Diluted Weighted-Average Common Shares Outstanding (Details) - shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Potential common shares excluded from diluted net loss per share (in shares) 4,807 4,276 4,446 4,134
Shares of common stock issuable under equity incentive plans outstanding        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Potential common shares excluded from diluted net loss per share (in shares) 4,064 4,276 3,703 3,955
Shares of common stock related to convertible preferred stock        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Potential common shares excluded from diluted net loss per share (in shares) 743 0 743 0
Shares of common stock related to convertible senior notes        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Potential common shares excluded from diluted net loss per share (in shares) 0 0 0 179