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Stockholders' Equity and Equity Incentive Plans - Schedule of Reserved Shares of Common Stock (Details) - shares | Mar. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Class Of Stock [Line Items] |  |
Total reserved shares | 52,336,516 | 46,868,302
Employee Stock Option | Option and Grant Plan |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 20,977,550 | 16,774,634
Equity Plan Stock Options Outstanding |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 16,169,545 | 16,767,752
RSUs Outstanding |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 10,635,635 | 9,914,125
2021 Employee Stock Purchase Plan |  |
Class Of Stock [Line Items] |  |
Total reserved shares | 4,553,786 | 3,411,791

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