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Stockholders' Equity - Common Shares Reserved for Future Issuance (Details) - shares
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares of common stock reserved for issuance (in shares) 33,145,666 29,656,136
Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares of common stock reserved for issuance (in shares) 8,132,959 8,085,793
Restricted Stock Units    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares of common stock reserved for issuance (in shares) 1,178,370 1,247,723
Convertible Notes    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares of common stock reserved for issuance (in shares) 14,090,448 14,340,786
Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future issuance or purchase (in shares) 895,141 170,811
Common stock warrants outstanding    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total shares of common stock reserved for issuance (in shares) 0 2,500,000
2018 Omnibus Incentive Compensation Plan | Stock options    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future issuance or purchase (in shares) 8,848,748 3,311,023