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Equity Incentive Plan - Schedule of Exercise Prices and Weighted-average Remaining Contractual Lives for Options Outstanding (Details) | 12 Months Ended
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Dec. 31, 2023 $ / shares shares
Options Outstanding (in shares) | shares | 24,574,862
Weighted- Average Remaining Contractual Life (Year) | 7 years 6 months 29 days
Weighted- Average Exercise Price (in dollars per share) | $ 7.06
Options Exercisable (in shares) | shares | 11,390,275
Weighted- Average Exercise Price of Options Exercisable | $ 12.87
Exercise Price Range 1 |
Options Outstanding (in shares) | shares | 6,179,628
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 0.97
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 1.51
Weighted- Average Remaining Contractual Life (Year) | 9 years 6 months 3 days
Weighted- Average Exercise Price (in dollars per share) | $ 1.25
Options Exercisable (in shares) | shares | 344,006
Weighted- Average Exercise Price of Options Exercisable | $ 1.3
Exercise Price Range 2 |
Options Outstanding (in shares) | shares | 7,660,800
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 1.52
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 2.28
Weighted- Average Remaining Contractual Life (Year) | 9 years 3 months 10 days
Weighted- Average Exercise Price (in dollars per share) | $ 1.77
Options Exercisable (in shares) | shares | 2,001,281
Weighted- Average Exercise Price of Options Exercisable | $ 1.78
Exercise Price Range 3 |
Options Outstanding (in shares) | shares | 3,406,724
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 2.32
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 3.48
Weighted- Average Remaining Contractual Life (Year) | 7 years 8 months 4 days
Weighted- Average Exercise Price (in dollars per share) | $ 2.99
Options Exercisable (in shares) | shares | 2,182,510
Weighted- Average Exercise Price of Options Exercisable | $ 3.05
Exercise Price Range 4 |
Options Outstanding (in shares) | shares | 83,323
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 3.61
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 5.42
Weighted- Average Remaining Contractual Life (Year) | 8 years 7 months 9 days
Weighted- Average Exercise Price (in dollars per share) | $ 4.08
Options Exercisable (in shares) | shares | 34,239
Weighted- Average Exercise Price of Options Exercisable | $ 4.09
Exercise Price Range 5 |
Options Outstanding (in shares) | shares | 21,459
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 5.5
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 8.25
Weighted- Average Remaining Contractual Life (Year) | 7 years 7 months 24 days
Weighted- Average Exercise Price (in dollars per share) | $ 5.84
Options Exercisable (in shares) | shares | 10,059
Weighted- Average Exercise Price of Options Exercisable | $ 5.81
Exercise Price Range 6 |
Options Outstanding (in shares) | shares | 1,100,494
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 8.8
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 13.2
Weighted- Average Remaining Contractual Life (Year) | 3 years 6 months 25 days
Weighted- Average Exercise Price (in dollars per share) | $ 11.18
Options Exercisable (in shares) | shares | 996,018
Weighted- Average Exercise Price of Options Exercisable | $ 11.2
Exercise Price Range 7 |
Options Outstanding (in shares) | shares | 3,116,010
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 13.5
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 20.25
Weighted- Average Remaining Contractual Life (Year) | 4 years 1 month 17 days
Weighted- Average Exercise Price (in dollars per share) | $ 16.1
Options Exercisable (in shares) | shares | 2,817,050
Weighted- Average Exercise Price of Options Exercisable | $ 16.16
Exercise Price Range 8 |
Options Outstanding (in shares) | shares | 2,828,424
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 20.93
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 31.4
Weighted- Average Remaining Contractual Life (Year) | 4 years 3 months 3 days
Weighted- Average Exercise Price (in dollars per share) | $ 25.72
Options Exercisable (in shares) | shares | 2,827,112
Weighted- Average Exercise Price of Options Exercisable | $ 25.72
Exercise Price Range 9 |
Options Outstanding (in shares) | shares | 178,000
Range of Exercise Prices, Lower Limit (in dollars per share) | $ 31.45
Range of Exercise Prices, Upper Limit (in dollars per share) | $ 41.18
Weighted- Average Remaining Contractual Life (Year) | 3 years 2 months 1 day
Weighted- Average Exercise Price (in dollars per share) | $ 35.45
Options Exercisable (in shares) | shares | 178,000
Weighted- Average Exercise Price of Options Exercisable | $ 35.45

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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (e)(1) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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