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Stockholders’ Equity - Restricted Stock Units and Performance Restricted Stock Units Activity (Details) - RSU and PRSU
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of Shares  
Unvested and outstanding, beginning balance (in shares) | shares 2,881,984
Granted (in shares) | shares 1,372,585
Released (in shares) | shares (861,292)
Canceled and forfeited (in shares) | shares (414,068)
Unvested and outstanding, ending balance (in shares) | shares 2,979,209
Weighted Average Grant-Date Fair Value per Share  
Unvested and outstanding, beginning balance (in dollars per share) | $ / shares $ 41.15
Granted (in dollars per share) | $ / shares 17.97
Vested (in dollars per share) | $ / shares 40.81
Canceled and forfeited (in dollars per share) | $ / shares 39.29
Unvested and outstanding, ending balance (in dollars per share) | $ / shares $ 30.79