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Equity Incentive Plans - Schedule of Company's Stock Option Activity (Details)
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
Stock Options  
Beginning balance (in shares) | shares 7,964,557
Granted (in shares) | shares 300,870
Exercised (in shares) | shares (1,088,527)
Cancelled (in shares) | shares (169,273)
Ending balance (in shares) | shares 7,007,627
Weighted-Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 37.10
Granted (in dollars per share) | $ / shares 50.80
Exercised (in dollars per share) | $ / shares 5.02
Cancelled (in dollars per share) | $ / shares 82.96
Ending balance (in dollars per share) | $ / shares $ 41.56