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Summary of Significant Accounting Policies - Antidilutive shares (Details) - shares
shares in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Summary of Significant Accounting Policies    
Antidilutive securities excluded from computation of earnings per share, amount 13,847,335 14,914,036
Series C convertible preferred stock    
Summary of Significant Accounting Policies    
Antidilutive securities excluded from computation of earnings per share, amount 5,721,177 5,497,939
Stock options    
Summary of Significant Accounting Policies    
Antidilutive securities excluded from computation of earnings per share, amount 3,438,314 4,699,476
Restricted stock units    
Summary of Significant Accounting Policies    
Antidilutive securities excluded from computation of earnings per share, amount 665,110 693,887
Convertible Senior Notes    
Summary of Significant Accounting Policies    
Antidilutive securities excluded from computation of earnings per share, amount 4,022,734 4,022,734