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Stockholders’ Equity (Deficit) and Equity Incentive Plan - Summary of Stock Options (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2022
USD ($)
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 9,341,242
Granted (in shares) | shares 0
Exercised (in shares) | shares (545,248)
Cancelled and forfeited (in shares) | shares (152,378)
Ending balance (in shares) | shares 8,643,616
Vested and exercisable (in shares) | shares 5,677,728
Weighted- Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 6.83
Granted (in dollars per share) | $ / shares 0
Exercised (in dollars per share) | $ / shares 2.45
Cancelled and forfeited (in dollars per share) | $ / shares 13.32
Ending Balance (in dollars per share) | $ / shares 6.99
Vested and exercisable (in dollars per share) | $ / shares $ 4.32
Ending balance, Weighted Average Remaining Contractual Life 6 years 5 months 19 days
Vested and exercisable, Weighted Average Remaining Contractual Life 5 years 5 months 26 days
Exercise, aggregate intrinsic value | $ $ 7,414
Outstanding ending balance, aggregate intrinsic value | $ 68,121
Vested and exercisable, aggregate intrinsic value | $ $ 54,332