v3.22.4
Stockholders’ Equity and Equity Incentive Plans - Weighted-Average Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Dividend rate 0.00% 0.00% 0.00%
Weighted-average grant date fair value of options granted (in usd per share) $ 13.70 $ 20.30 $ 4.96
ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Risk-free interest rate   0.10%  
Dividend rate 0.00% 0.00%  
Minimum      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Fair market value of common stock (in usd per share) $ 18.63 $ 39.75 $ 3.20
Expected term (in years) 5 years 5 years 9 months 18 days 5 years 8 months 12 days
Risk-free interest rate 1.80% 0.60% 0.30%
Expected volatility 54.00% 51.00% 50.00%
Minimum | ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Expected term (in years) 6 months 4 months 24 days  
Risk-free interest rate 1.60%    
Expected volatility 83.00% 60.00%  
Maximum      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Fair market value of common stock (in usd per share) $ 31.79 $ 54.07 $ 17.00
Expected term (in years) 7 years 6 years 8 months 12 days 6 years 4 months 24 days
Risk-free interest rate 3.40% 1.00% 1.50%
Expected volatility 57.00% 54.00% 55.00%
Maximum | ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Expected term (in years) 1 year 1 year 4 months 24 days  
Risk-free interest rate 2.20%    
Expected volatility 79.00% 76.00%