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Stockholders' Equity (Deficit) and Equity Incentive Plans - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]    
Balances as of December 31, 2020 21,214,155  
Granted 858,630  
Exercised (2,498,763)  
Cancelled/forfeited (2,806,270)  
Balances as of December 31, 2021 16,767,752 [1] 21,214,155
Exercisable as of December 31, 2021 [2] 12,822,860  
Balances as of December 31, 2020 $ 4.15  
Granted 14.84  
Exercised 2.77  
Cancelled/forfeited 8.42  
Balances as of December 31, 2021 4.19 [1] $ 4.15
Exercisable as of December 31, 2021 [2] $ 3.29  
Weighted average remaining contractual life (years), outstanding 7 years 2 months 8 days [1] 8 years 1 month 13 days
Weighted average remaining contractual life (years), Exercisable [2] 6 years 10 months 20 days  
Balances as of December 31, 2020 $ 1,035,039  
Balances as of December 31, 2021 132,298 [1] $ 1,035,039
Exercisable as of December 31, 2021 [2] $ 112,713  
[1] As no forfeitures are estimated due to the Company's adoption of ASU No. 2016-09, all options are vested or expected to vest. As of December 31, 2022, no options were outstanding that were subject to a future performance condition
[2] Exercisable shares include vested options as well as unvested shares that can be early exercised