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Stock-Based Compensation - Schedule of Stock Options Outstanding and Exercisable (Details) - Stock options	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Number Outstanding | shares	7,340,521
Number Exercisable | shares	6,054,897
$1.87 - 3.07
Number Outstanding | shares	658,184
Weighted-Average Remaining Contractual Life (Years)	3 years 1 month 6 days
Weighted-Average Exercise Price	$ 2.33
Number Exercisable | shares	658,184
Weighted-Average Exercise Price	$ 2.33
Exercise price, lower range	1.87
Exercise price, upper range	$ 3.07
$3.19 - 3.44
Number Outstanding | shares	730,680
Weighted-Average Remaining Contractual Life (Years)	2 years 9 months 18 days
Weighted-Average Exercise Price	$ 3.31
Number Exercisable | shares	730,680
Weighted-Average Exercise Price	$ 3.31
Exercise price, lower range	3.19
Exercise price, upper range	$ 3.44
$4.80 - 4.92
Number Outstanding | shares	576,783
Weighted-Average Remaining Contractual Life (Years)	2 years 4 months 24 days
Weighted-Average Exercise Price	$ 4.80
Number Exercisable | shares	576,783
Weighted-Average Exercise Price	$ 4.80
Exercise price, lower range	4.80
Exercise price, upper range	$ 4.92
$5.00 - 7.67
Number Outstanding | shares	675,615
Weighted-Average Remaining Contractual Life (Years)	2 years 7 months 6 days
Weighted-Average Exercise Price	$ 5.02
Number Exercisable | shares	675,615
Weighted-Average Exercise Price	$ 5.02
Exercise price, lower range	5.00
Exercise price, upper range	$ 7.67
$7.80 - 8.65
Number Outstanding | shares	741,637
Weighted-Average Remaining Contractual Life (Years)	4 years 2 months 12 days
Weighted-Average Exercise Price	$ 8.35
Number Exercisable | shares	741,637
Weighted-Average Exercise Price	$ 8.35
Exercise price, lower range	7.80
Exercise price, upper range	$ 8.65
$9.29 - 12.79
Number Outstanding | shares	931,959
Weighted-Average Remaining Contractual Life (Years)	6 years 1 month 6 days
Weighted-Average Exercise Price	$ 11.99
Number Exercisable | shares	931,959
Weighted-Average Exercise Price	$ 11.99
Exercise price, lower range	9.29
Exercise price, upper range	$ 12.79
$13.37 - 16.95
Number Outstanding | shares	1,402,560
Weighted-Average Remaining Contractual Life (Years)	7 years 1 month 6 days
Weighted-Average Exercise Price	$ 16.52
Number Exercisable | shares	994,973
Weighted-Average Exercise Price	$ 16.43
Exercise price, lower range	13.37
Exercise price, upper range	$ 16.95
$17.36 - 36.68
Number Outstanding | shares	1,004,671
Weighted-Average Remaining Contractual Life (Years)	6 years 8 months 12 days
Weighted-Average Exercise Price	$ 26.26
Number Exercisable | shares	456,745
Weighted-Average Exercise Price	$ 22.65
Exercise price, lower range	17.36
Exercise price, upper range	$ 36.68
$41.14 - 72.07
Number Outstanding | shares	618,432
Weighted-Average Remaining Contractual Life (Years)	5 years 10 months 24 days
Weighted-Average Exercise Price	$ 54.66
Number Exercisable | shares	288,321
Weighted-Average Exercise Price	$ 54.52
Exercise price, lower range	41.14
Exercise price, upper range	$ 72.07

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- Definition

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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