v3.22.4

Stockholders’ Equity and Equity Incentive Plans - Summary of Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Shares Underlying Outstanding Options
Beginning balance (in shares)	6,542,351
Options granted (in shares)	450,153
Options exercised (in shares)	(358,418)
Options canceled (in shares)	(148,070)
Options expired (in shares)	(9,777)
Ending balance (in shares)	6,476,239	6,542,351
Vested (in shares)	5,089,579
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 6.08
Options granted (in usd per share)	26.05
Options exercised (in usd per share)	3.33
Options canceled (in usd per share)	15.07
Options expired (in usd per share)	34.40
Ending balance (in usd per share)	7.38	$ 6.08
Vested (in usd per share)	$ 4.93
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (years)	6 years 1 month 6 days	6 years 11 months 12 days
Weighted average remaining contractual term vested (in years)	5 years 6 months 29 days
Aggregate intrinsic value, awards outstanding	$ 55,516	$ 184,727
Aggregate intrinsic value, vested	$ 48,635

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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