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Stockholders' Equity - Narrative (Details) | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Jan. 31, 2023 shares | Sep. 30, 2020 USD ($) shares | Dec. 31, 2022 USD ($) vote $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Oct. 05, 2020 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Common stock, shares authorized (in shares) | shares |  |  | 200,000,000 | 200,000,000 | 200,000,000
Dividends declared |  |  | $ 0 |  |
Number of votes for each share of common stock held | vote |  |  | 1 |  |
Shares reserved for future issuance (in shares) | shares |  |  | 8,471,816 | 7,271,132 |
Options exercised, aggregate intrinsic value |  |  | $ 4,600,000 | $ 43,800,000 |
Options outstanding, aggregate intrinsic value |  |  | 6,900,000 | 45,300,000 |
Options exercisable, aggregate intrinsic value |  |  | 6,900,000 | 45,300,000 |
Options vested and expenses to vest, intrinsic value |  |  | $ 4,100,000 | $ 18,900,000 |
Repurchase of early exercised common stock options (in shares) | shares |  |  | 14,459 | 12,945 |
Common stock, shares repurchased, less than |  |  | $ 100,000 | $ 100,000 |
Aggregate exercise price of shares subject to repurchase |  |  | $ 100,000 | $ 400,000 |
Fair value of stock options granted (in dollars per share) | $ / shares |  |  | $ 10.74 | $ 18.81 |
Unrecognized compensation costs |  |  | $ 41,600,000 |  |
Fair value of shares vested |  |  | 15,500,000 | $ 8,300,000 |
Cost Of Goods And Services Sold |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock-based compensation capitalized into inventory |  |  | 700,000 | 600,000 |
Inventory, Net |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock-based compensation capitalized into inventory |  |  | $ 1,200,000 | $ 1,000,000 |
Stock Plans |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares reserved for future issuance (in shares) | shares |  |  | 12,747,171 |  |
2000 Stock Plan | Directors, Employees And Consultants |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares reserved for future issuance (in shares) | shares |  |  | 0 | 0 |
Equity Incentive plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares reserved for future issuance (in shares) | shares |  |  | 1,502,223 |  |
Options to purchase common stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Purchase price of common stock, percentage of fair market value, greater than |  |  | 100.00% |  |
Award vesting period |  |  | 4 years |  |
Award expiration period, not more than |  |  | 10 years |  |
Shares subject to repurchase (in shares) | shares |  |  | 77,782 | 223,195 |
Weighted-average period for recognition of compensation costs |  |  | 2 years 8 months 23 days |  |
Options to purchase common stock | Share-based Payment Arrangement, Tranche One |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting rate |  |  | 25.00% |  |
Options to purchase common stock | Share-based Payment Arrangement, Tranche Two |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting rate |  |  | 25.00% |  |
Options to purchase common stock | Share-based Payment Arrangement, Tranche Three |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting rate |  |  | 25.00% |  |
Options to purchase common stock | Share-based Payment Arrangement, Tranche Four |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting rate |  |  | 25.00% |  |
Options to purchase common stock | Over 10% Shareholder |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Purchase price of common stock, percentage of fair market value, greater than |  |  | 110.00% |  |
ESPP |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares reserved for future issuance (in shares) | shares |  | 720,000 | 1,212,109 | 932,458 |
Shares issued in period (in shares) | shares |  |  | 89,666 | 144,479 |
Maximum number of shares available per employee (in shares) | shares |  | 2,500 |  |  |
Payroll deduction rate, percentage of base compensation |  | 15.00% |  |  |
Maximum amount of shares per employee |  | $ 25,000 |  |  |
Purchase price as percent of lower fair value |  | 85.00% |  |  |
Unrecognized compensation costs |  |  | $ 100,000 |  |
Weighted-average period for recognition of compensation costs |  |  | 1 month 6 days |  |
ESPP | Subsequent Event |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Increase in shares from automatic increase provision (in shares) | shares | 375,556 |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options outstanding, aggregate intrinsic value |  |  | $ 8,400,000 | $ 14,200,000 |

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