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Equity Incentive Plans - Restricted Stock Units (Details) - Restricted stock units
shares in Thousands
 9 Months Ended
Sep. 30, 2022
$ / shares
shares
Number of RSUs  
Outstanding balance, beginning (in shares) | shares 3,529
Granted (in shares) | shares 2,012
Vested (in shares) | shares (3,803)
Forfeited (in shares) | shares (306)
Outstanding balance, ending (in shares) | shares 1,432
Weighted-Average Grant Date Fair Value Per Share  
Outstanding balance, beginning (in dollars per share) | $ / shares $ 2.04
Granted (in dollars per share) | $ / shares 0.81
Vested (in dollars per share) | $ / shares 1.29
Forfeited (in dollars per share) | $ / shares 2.25
Outstanding balance, ending (in dollars per share) | $ / shares $ 2.25