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Stockholders’ Equity (Deficit) and Equity Incentive Plan- Summary of RSU Activity Under Equity Incentive Plans and Related Information (Details) - Restricted stock units - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Number of Shares      
Unvested beginning balance (in shares)   3,737,565  
Granted (in shares)   1,045,932  
Vested (in shares) 0 (474,506) 0
Cancelled and forfeited (in shares)   (316,485)  
Unvested ending balance (in shares)   3,992,506  
Weighted-Average Grant Date Fair Value      
Unvested beginning balance (in dollars per share)   $ 20.01  
Granted (in dollars per share)   13.76  
Vested (in dollars per share)   22.64  
Cancelled and forfeited (in dollars per share)   19.84  
Unvested ending balance (in dollars per share)   $ 18.07