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Stockholders' Equity and Equity Incentive Plans - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Equity [Abstract]    
Balances as of December 31, 2022 16,767,752  
Granted 241,819  
Exercised (554,344)  
Cancelled/forfeited (285,682)  
Balances as of March 31, 2023 16,169,545 [1] 16,767,752
Exercisable as of March 31, 2023 [2] 12,764,513  
Balances as of December 31, 2022 $ 4.19  
Granted 12.37  
Exercised 3.04  
Cancelled/forfeited 5.20  
Balances as of March 31, 2023 4.34 [1] $ 4.19
Exercisable as of March 31, 2023 [2] $ 3.39  
Weighted average remaining contractual life (years), outstanding 6 years 11 months 26 days [1] 7 years 2 months 8 days
Weighted average remaining contractual life (years), Exercisable [2] 6 years 8 months 4 days  
Balances as of December 31, 2022 $ 132,298  
Balances as of March 31, 2023 130,973 [1] $ 132,298
Exercisable as of March 31, 2023 [2] $ 115,519  
[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 March 31, 2023, 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