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Equity Incentive Plan - Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards Granted (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 7,947 | $ 10,915
Research and Development Expense |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 2,939 | 4,563
General and Administrative Expense |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 2,329 | 3,002
Sales and Marketing Expense |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 2,679 | $ 3,350

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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