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Share-based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stock Options Outstanding
Outstanding — beginning of period	8,479,979	9,044,304	8,796,212
Granted	1,929,500	1,526,000	2,660,936
Exercised	(1,315,552)	(1,357,620)	(1,489,067)
Canceled	(1,008,134)	(732,705)	(923,777)
Outstanding — end of period	8,085,793	8,479,979	9,044,304
Vested and Expected to Vest — December 31, 2021	7,398,958
Exercisable — December 31, 2021	4,816,773
Weighted-Average Exercise Price Per Option
Outstanding — beginning of period	$ 3.99	$ 2.91	$ 2.10
Granted	8.86	9.41	5.17
Exercised	2.62	3.06	1.69
Canceled	8.60	3.60	3.64
Outstanding — end of period	4.81	$ 3.99	$ 2.91
Vested and Expected to Vest — December 31, 2021	4.51
Exercisable — December 31, 2021	$ 3.00
Weighted-Average Remaining Contractual Term (Years), Options Outstanding	7 years 1 month 28 days
Weighted-Average Remaining Contractual Term (Years), Options Vested and Expected to Vest	6 years 11 months 26 days
Weighted-Average Remaining Contractual Term (Years), Options Exercisable	6 years 2 months 1 day
Aggregate Intrinsic Value, Options Outstanding	$ 16,603
Aggregate Intrinsic Value, Options Vested and Expected to Vest	16,464
Aggregate Intrinsic Value, Options Exercisable	$ 15,081

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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