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Net Loss per Share - Schedule of Common Stock Equivalents Outstanding (Details) - shares
shares in Thousands
9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from net loss per share (in shares) 21,705 16,852
Stock options    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from net loss per share (in shares) 19,221 13,859
Restricted stock units    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from net loss per share (in shares) 1,724 2,593
ESPP    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Antidilutive securities excluded from net loss per share (in shares) 760 400