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Stock-Based Compensation - Additional Information (Details)
Mar. 31, 2023
shares
2006 Plan and 2016 Plan | Outstanding Options and RSUs  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Shares subject to outstanding options and RSUs (in shares) 6,985,906
2016 Plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Number of shares of common stock authorized for issuance (in shares) 11,890,000
Number of shares of common stock available for future grant (in shares) 2,756,373