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Stockholders' Equity - Summary of Stock Options Outstanding (Details)
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 12,221,548
Weighted-average remaining contractual life (in Years) 6 years 7 months 6 days
Weighted average exercise price (in dollars per share) $ 6.28
Options exercisable (in shares) | shares 7,829,692
Weighted average exercise price (in dollars per share) $ 6.79
$1.56-$3.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 1.56
Exercise price, upper range limit (in dollars per share) $ 3.00
Options outstanding (in shares) | shares 830,542
Weighted-average remaining contractual life (in Years) 8 years 3 months 18 days
Weighted average exercise price (in dollars per share) $ 2.17
Options exercisable (in shares) | shares 247,104
Weighted average exercise price (in dollars per share) $ 2.29
$3.01-$6.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 3.01
Exercise price, upper range limit (in dollars per share) $ 6.00
Options outstanding (in shares) | shares 5,461,365
Weighted-average remaining contractual life (in Years) 7 years 1 month 6 days
Weighted average exercise price (in dollars per share) $ 3.50
Options exercisable (in shares) | shares 3,059,330
Weighted average exercise price (in dollars per share) $ 3.67
$6.01-$9.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 6.01
Exercise price, upper range limit (in dollars per share) $ 9.00
Options outstanding (in shares) | shares 3,349,587
Weighted-average remaining contractual life (in Years) 5 years 3 months 18 days
Weighted average exercise price (in dollars per share) $ 7.57
Options exercisable (in shares) | shares 2,861,909
Weighted average exercise price (in dollars per share) $ 7.49
$9.01-$12.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 9.01
Exercise price, upper range limit (in dollars per share) $ 12.00
Options outstanding (in shares) | shares 1,930,825
Weighted-average remaining contractual life (in Years) 7 years 1 month 6 days
Weighted average exercise price (in dollars per share) $ 10.97
Options exercisable (in shares) | shares 1,080,389
Weighted average exercise price (in dollars per share) $ 10.89
$12.01-$15.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 12.01
Exercise price, upper range limit (in dollars per share) $ 15.00
Options outstanding (in shares) | shares 580,947
Weighted-average remaining contractual life (in Years) 4 years 1 month 6 days
Weighted average exercise price (in dollars per share) $ 13.38
Options exercisable (in shares) | shares 529,392
Weighted average exercise price (in dollars per share) $ 13.34
$15.01-$25.62  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 15.01
Exercise price, upper range limit (in dollars per share) $ 25.62
Options outstanding (in shares) | shares 68,282
Weighted-average remaining contractual life (in Years) 7 years 7 months 6 days
Weighted average exercise price (in dollars per share) $ 21.12
Options exercisable (in shares) | shares 51,568
Weighted average exercise price (in dollars per share) $ 21.11