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Equity Incentive Plans - Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Shares Subject to Options    
Beginning balance (in shares) 3,673,208  
Granted (in shares) 1,579,331  
Exercises (in shares) (90,883)  
Forfeitures and cancellations (in shares) (936,041)  
Ending balance (in shares) 4,225,615 3,673,208
Stock options exercisable, ending balance (in shares) 2,154,408  
Weighted-Average Exercise Price per Share    
Beginning balance (in dollars per share) $ 32.04  
Granted (in dollars per share) 22.02  
Exercises (in dollars per share) 18.95  
Forfeitures and cancellations (in dollars per share) 37.52  
Ending balance (in dollars per share) 27.36 $ 32.04
Stock options exercisable, ending balance (in dollars per share) $ 30.60  
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value    
Weighted average remaining contractual term, options outstanding 7 years 5 months 1 day 6 years 3 months 10 days
Weighted average remaining contractual term, options exercisable 6 years 1 month 6 days  
Aggregate intrinsic value, options outstanding $ 5,827 $ 18,686
Aggregate intrinsic value, options exercisable $ 4,741