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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