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Stockholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Outstanding options    
Balance (in shares) 12,558,158  
Granted (in shares) 237,642  
Exercised (in shares) (77,378)  
Canceled (in shares) (28,419)  
Balance (in shares) 12,690,003 12,558,158
Vested and exercisable (in shares) 9,631,022  
Vested and expected to vest (in shares) 12,529,364  
Weighted average exercise price    
Balance (in dollars per share) $ 12.30  
Granted (in dollars per share) 8.72  
Exercised (in dollars per share) 5.99  
Canceled (in dollars per share) 11.48  
Balance (in dollars per share) 12.27 $ 12.30
Vested and exercisable (in dollars per share) 12.04  
Vested and expected to vest (in dollars per share) $ 12.26  
Weighted average remaining contractual term (years)    
Outstanding 6 years 2 months 12 days 6 years 4 months 24 days
Vested and exercisable 5 years 6 months  
Vested and expected to vest 6 years 2 months 12 days  
Aggregate intrinsic value (thousands)    
Outstanding $ 3,554 $ 93
Vested and exercisable 3,169  
Vested and expected to vest $ 3,524