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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