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Stockholders’ Equity and Equity Incentive Plan - Schedule of RSU Activity Under Equity Incentive Plans and Related Information (Details) - Restricted Stock Units
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of Shares  
Unvested beginning balance (in shares) | shares 5,134,934
Granted (in shares) | shares 2,771,342
Anti-dilution adjustment (in shares) | shares 950,208
Vested (in shares) | shares (1,727,598)
Cancelled and forfeited (in shares) | shares (996,281)
Unvested ending balance (in shares) | shares 6,132,605
Weighted-Average Grant Date Fair Value  
Unvested beginning balance (in dollars per share) | $ / shares $ 14.37
Granted (in dollars per share) | $ / shares 8.42
Anti-dilution adjustment (in dollars per share) | $ / shares 12.43
Vested (in dollars per share) | $ / shares 14.61
Cancelled and forfeited (in dollars per share) | $ / shares 13.47
Unvested ending balance (in dollars per share) | $ / shares $ 11.46