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Equity Incentive Plan - Schedule of Exercise Prices and Weighted-average Remaining Contractual Lives for Options Outstanding (Details)
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Options Outstanding (in shares) | shares 20,749,349
Weighted- Average Remaining Contractual Life (Year) 6 years 5 months 8 days
Weighted- Average Exercise Price (in dollars per share) $ 14.61
Options Exercisable (in shares) | shares 13,650,210
Weighted- Average Exercise Price of Options Exercisable $ 17.86
Exercise Price Range 1  
Options Outstanding (in shares) | shares 1,440,440
Range of Exercise Prices, Lower Limit (in dollars per share) $ 2.49
Range of Exercise Prices, Upper Limit (in dollars per share) $ 2.74
Weighted- Average Remaining Contractual Life (Year) 9 years 10 months 17 days
Weighted- Average Exercise Price (in dollars per share) $ 2.70
Options Exercisable (in shares) | shares 2,369
Weighted- Average Exercise Price of Options Exercisable $ 2.74
Exercise Price Range 2  
Options Outstanding (in shares) | shares 3,483,035
Range of Exercise Prices, Lower Limit (in dollars per share) $ 2.88
Range of Exercise Prices, Upper Limit (in dollars per share) $ 3.17
Weighted- Average Remaining Contractual Life (Year) 9 years 3 months 25 days
Weighted- Average Exercise Price (in dollars per share) $ 3.17
Options Exercisable (in shares) | shares 764,820
Weighted- Average Exercise Price of Options Exercisable $ 3.17
Exercise Price Range 3  
Options Outstanding (in shares) | shares 3,758,189
Range of Exercise Prices, Lower Limit (in dollars per share) $ 3.30
Range of Exercise Prices, Upper Limit (in dollars per share) $ 13.00
Weighted- Average Remaining Contractual Life (Year) 4 years 5 months 4 days
Weighted- Average Exercise Price (in dollars per share) $ 9.84
Options Exercisable (in shares) | shares 2,922,363
Weighted- Average Exercise Price of Options Exercisable $ 9.94
Exercise Price Range 4  
Options Outstanding (in shares) | shares 3,484,856
Range of Exercise Prices, Lower Limit (in dollars per share) $ 13.05
Range of Exercise Prices, Upper Limit (in dollars per share) $ 15.72
Weighted- Average Remaining Contractual Life (Year) 6 years 9 months 29 days
Weighted- Average Exercise Price (in dollars per share) $ 15.33
Options Exercisable (in shares) | shares 2,166,837
Weighted- Average Exercise Price of Options Exercisable $ 15.20
Exercise Price Range 5  
Options Outstanding (in shares) | shares 3,346,234
Range of Exercise Prices, Lower Limit (in dollars per share) $ 15.75
Range of Exercise Prices, Upper Limit (in dollars per share) $ 23.90
Weighted- Average Remaining Contractual Life (Year) 4 years 8 months 19 days
Weighted- Average Exercise Price (in dollars per share) $ 17.93
Options Exercisable (in shares) | shares 3,154,236
Weighted- Average Exercise Price of Options Exercisable $ 17.91
Exercise Price Range 6  
Options Outstanding (in shares) | shares 5,236,595
Range of Exercise Prices, Lower Limit (in dollars per share) $ 24.40
Range of Exercise Prices, Upper Limit (in dollars per share) $ 39.00
Weighted- Average Remaining Contractual Life (Year) 5 years 10 months 6 days
Weighted- Average Exercise Price (in dollars per share) $ 26.32
Options Exercisable (in shares) | shares 4,639,585
Weighted- Average Exercise Price of Options Exercisable $ 26.49