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Stockholders' Equity (Deficit) and Equity Incentive Plans - Schedule of Reserved Shares of Common Stock (Details) - shares shares in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Class Of Stock [Line Items] |  |
Total reserved shares | 46,868,302 | 44,599,148
Employee Stock Option | Option and Grant Plan |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 16,774,634 | 19,005,008
Equity Plan Stock Options Outstanding |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 16,767,752 | 21,214,155
RSUs Outstanding |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 9,914,125 | 1,716,614
2021 Employee Stock Purchase Plan |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 3,411,791 | 2,663,371

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