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Stockholders' Equity - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Outstanding options    
Balance (in shares) | shares 11,260,788  
Granted (in shares) | shares 1,868,692  
Exercised (in shares) | shares (364,844)  
Cancelled (in shares) | shares (122,133)  
Balance (in shares) | shares 12,642,503 11,260,788
Vested and exercisable (in shares) | shares 8,974,051  
Vested and expected to vest (in shares) | shares 12,437,571  
Weighted average exercise price    
Balance (in dollars per share) | $ / shares $ 12.11  
Granted (in dollars per share) | $ / shares 12.77  
Exercised (in dollars per share) | $ / shares 8.30  
Cancelled (in dollars per share) | $ / shares 16.76  
Balance (in dollars per share) | $ / shares 12.27 $ 12.11
Vested and exercisable (in dollars per share) | $ / shares 11.79  
Vested and expected to vest (in dollars per share) | $ / shares $ 12.25  
Weighted average remaining contractual term (years)    
Outstanding 6 years 7 months 6 days 6 years 8 months 12 days
Vested and exercisable 5 years 9 months 18 days  
Vested and expected to vest 6 years 7 months 6 days  
Aggregate intrinsic value (thousands)    
Outstanding | $ $ 150 $ 63,862
Vested and exercisable | $ 150  
Vested and expected to vest | $ $ 150