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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