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Common Stock - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2022
Dec. 31, 2021
Nov. 11, 2013
Class of Stock [Line Items]      
Outstanding stock options 326,258 381,756  
Total common shares reserved for future issuance 54,982,425    
2013 Plan      
Class of Stock [Line Items]      
Shares available for grant under the 2013 Plan 34,699,188    
Total common shares reserved for future issuance     12,000,000
2013 Employee Stock Purchase Plan      
Class of Stock [Line Items]      
Total common shares reserved for future issuance 10,801,299    
PSUs and RSUs      
Class of Stock [Line Items]      
Outstanding RSUs and PSUs 9,155,680 8,171,462