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Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Feb. 09, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Apr. 19, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock, shares authorized (in shares)   200,000,000 200,000,000    
Common stock, shares issued (in shares)   78,350,984 74,980,546    
Common stock, shares outstanding (in shares)   75,584,911 72,234,303    
Common stock, par value (in dollars per share)   $ 0.001 $ 0.001    
Preferred stock, shares authorized (in shares)   5,000,000 5,000,000    
Preferred stock, shares issued (in shares)   0 0    
Preferred stock, shares outstanding (in shares)   0 0    
Preferred stock, par value (in dollars per share)   $ 0.001 $ 0.001    
Increase in number of shares of common stock available for issuance (in shares) 2,790,961        
Accrual during period for cash awards related to bonus   $ 10,400 $ 18,400    
Stock-based compensation expense   $ 109,638 $ 69,656 $ 65,946  
Weighted average fair value of stock options granted (in dollars per share)   $ 10.20 $ 28.68 $ 13.84  
Dividend yield   0.00% 0.00% 0.00%  
Share-based compensation arrangement, fair value assumptions, expected term   5 years 5 years 5 years  
Stock option          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares of common stock available for issuance (up to)   40,067,744     5,000,000
Stock option term (in years)   10 years      
Shares reserved for future issuance   1,200,000      
Fair value of stock options exercised   $ 11,300 $ 6,600    
Unrecognized compensation cost related to nonvested share-based compensation arrangements   $ 18,300      
Weighted average recognition period of unrecognized compensation cost   2 years 6 months      
Employee Stock Purchase Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares of common stock available for issuance (up to)   1,000,000      
Shares reserved for future issuance   400,000      
Incentive Stock Option          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares of common stock available for issuance (up to)   6,159,009      
Shares reserved for future issuance   900,000      
Restricted stock units          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Weighted average recognition period of unrecognized compensation cost   2 years 8 months 12 days      
Unrecognized compensation cost - RSU   $ 109,100      
Restricted stock units | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)   3 years      
Restricted stock units | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period (in years)   4 years