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Net Loss Per Share - Outstanding Dilutive Potential Shares Excluded from Calculation of Diluted Net loss Per Share (Details) - shares
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Antidilutive securities excluded from computation of EPS        
Antidilutive securities excluded from the calculation of diluted net (loss) income per share 37,593,041 36,557,270 38,118,321 38,700,742
Stock options, including shares subject to ESPP        
Antidilutive securities excluded from computation of EPS        
Antidilutive securities excluded from the calculation of diluted net (loss) income per share 23,311,075 22,195,040 23,713,858 22,133,745
Restricted stock units        
Antidilutive securities excluded from computation of EPS        
Antidilutive securities excluded from the calculation of diluted net (loss) income per share 2,339,814 2,420,078 2,462,311 2,449,703
8.2% Convertible Notes due 2022 | Shares issuable upon conversion of convertible notes        
Antidilutive securities excluded from computation of EPS        
Antidilutive securities excluded from the calculation of diluted net (loss) income per share       2,175,142
1.5% Convertible Senior Subordinated Notes due 2026 | Shares issuable upon conversion of convertible notes        
Antidilutive securities excluded from computation of EPS        
Antidilutive securities excluded from the calculation of diluted net (loss) income per share 11,942,152 11,942,152 11,942,152 11,942,152