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Stock-Based Compensation - Summary of Equity Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Shares available for grant    
Beginning balance (in shares) 1,836,566  
Number of shares authorized (in shares)   809,916
Granted (in shares) 0  
Exercised (in shares) 0  
Cancelled (in shares) 110,449  
Ending balance (in shares) 1,859,223 1,836,566
Outstanding Stock Options    
Beginning balance (in shares) 12,371,281  
Options granted (in shares) 0  
Exercised (in shares) (496,905)  
Cancelled (in shares) (110,449)  
Ending balance (in shares) 11,763,927 12,371,281
Vested and exercisable (in shares) 8,755,570  
Weighted-average exercise Price    
Beginning balance (USD per share) $ 5.74  
Granted (USD per share) 0  
Exercised (USD per share) 1.69  
Cancelled (USD per share) 12.90  
Ending balance (USD per share) 5.84 $ 5.74
Vested and exercisable (USD per share) $ 4.15  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Options outstanding, Weighted-average remaining contractual life (years) 5 years 10 months 6 days 6 years 25 days
Vested and exercisable, Weighted-average remaining contractual life (years) 5 years 29 days  
Options outstanding, Aggregate intrinsic value $ 20,684 $ 32,385
Vested and exercisable, Aggregate intrinsic value $ 19,219  
Restricted stock units outstanding    
Shares available for grant    
RSU award activity, net of shares withheld for taxes (in shares) (897,708)