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Stockholders' Equity - Stock Option Plans (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares) 16,454,103 20,145,360 21,702,085 6,111,561
Aggregate intrinsic value $ 1,951,000      
Total intrinsic value of options exercised $ 346,000 $ 1,363,000 $ 1,596,000  
Weighted-average remaining contractual term (in years) 5 years 7 months 9 days      
Proceeds from issuance of common stock $ 35,746 $ 174,414 $ 235,406  
Expiration period (in years) 10 years      
2020 Stock Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares) 17,500,000      
2011 Stock Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares) 5,530,106