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Stockholders' Equity - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangements |  |  |
Options outstanding and exercisable, aggregate intrinsic value |  | $ 64.3 |
Options outstanding, aggregate intrinsic value |  | 125.7 |
Options exercised in the period, intrinsic value |  | 10.9 | $ 2.0
Options vested in the period, fair value |  | $ 3.4 | $ 1.6
Common stock, shares issued (in shares) |  | 43,676,000 | 4,713,000
Unrecognized compensation cost |  | $ 10.6 |
Average vesting period for unrecognized compensation cost |  | 2 years 9 months 18 days |
Common stock options |  |  |
Share-based Compensation Arrangements |  |  |
Options outstanding (in shares) |  | 6,365,000 | 6,507,000
Restricted stock units |  |  |
Share-based Compensation Arrangements |  |  |
Intrinsic value of RSU's outstanding |  | $ 0.9 |
Remaining contractual term (in years) |  | 3 years 7 months 6 days |
2021 Equity Incentive Award Plan |  |  |
Share-based Compensation Arrangements |  |  |
Common stock reserved for future issuance (in shares) |  | 3,303,910 |
2021 Equity Incentive Award Plan | Employee stock purchase plan |  |  |
Share-based Compensation Arrangements |  |  |
Award vesting period (in years) |  | 4 years |
Award cliff vesting period (in years) |  | 1 year |
Shares available for grant (in shares) |  | 3,100,000 |
Options outstanding (in shares) |  | 200,000 |
2021 Equity Incentive Award Plan | Incentive stock options and nonqualified stock options | Minimum |  |  |
Share-based Compensation Arrangements |  |  |
Purchase price of common stock, percent |  | 110.00% |
2021 Equity Incentive Award Plan | Incentive stock options and nonqualified stock options | Minimum | Shareholder of Ten Percent Ownership or Greater |  |  |
Share-based Compensation Arrangements |  |  |
Ownership interest, percent |  | 10.00% |
2021 Equity Incentive Award Plan | Follow-On Options |  |  |
Share-based Compensation Arrangements |  |  |
Award vesting period (in years) |  | 4 years |
2021 Equity Incentive Award Plan | Common stock options |  |  |
Share-based Compensation Arrangements |  |  |
Award contractual life (in years) |  | 10 years |
Purchase price of common stock, percent |  | 100.00% |
2021 Equity Incentive Award Plan | Restricted stock units |  |  |
Share-based Compensation Arrangements |  |  |
Award vesting period (in years) |  | 4 years |
2008 Stock Plan | Common stock options |  |  |
Share-based Compensation Arrangements |  |  |
Options outstanding (in shares) |  | 6,200,000 |
2021 Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangements |  |  |
Common stock reserved for future issuance (in shares) |  | 412,988 |
Common stock, shares issued (in shares) |  | 0 |
2021 Employee Stock Purchase Plan | Forecast |  |  |
Share-based Compensation Arrangements |  |  |
Percentage of outstanding stock maximum | 1.00% |  |
2021 Employee Stock Purchase Plan | Maximum |  |  |
Share-based Compensation Arrangements |  |  |
Common stock reserved for future issuance (in shares) |  | 10,526,315 |

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