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Stock-Based Awards - Schedule of Employee Stock Purchase Plan Valuation Assumptions (Details) - Employee Stock Purchase Plan
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Risk-free interest rates, minimum 0.70% 0.00% 0.10%
Risk-free interest rates, maximum 3.20% 0.10% 1.60%
Expected term 6 months 6 months 6 months
Volatility, minimum 71.90% 61.00% 46.90%
Volatility, maximum 76.30% 65.80% 91.00%