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Equity Plans - Stock Option Activity (Details)
$ / shares in Units, $ in Millions
6 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Options Outstanding  
Options Outstanding, Beginning balance | shares 6,240,509
Options Outstanding, Options granted | shares 2,262,750
Options Outstanding, Options exercised | shares (220,771)
Options Outstanding, Options forfeited | shares (157,679)
Options Outstanding, Ending balance | shares 8,124,809
Options Outstanding, Options exercisable | shares 4,410,899
Options Outstanding, Options vested and expected to vest | shares 8,124,809
Weighted-Average Exercise Price Per Share  
Weighted-Average Exercise Price Per Share, Beginning balance $ 19.03
Weighted-Average Exercise Price Per Share, Options granted 12.61
Weighted-Average Exercise Price Per Share, Options exercised 12.27
Weighted-Average Exercise Price Per Share, Options forfeited 26.14
Weighted-Average Exercise Price Per Share, Ending balance 17.29
Weighted-Average Exercise Price Per Share, Options exercisable 16.81
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 17.29
Weighted-Average Remaining Contractual Life (years)  
Weighted-Average Remaining Contractual Life (years) 7 years 6 months 10 days
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 3 months 29 days
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 6 months 10 days
Aggregate Intrinsic Value  
Aggregate Intrinsic Value, Options Outstanding | $ $ 92.2
Aggregate Intrinsic Value, Options exercisable | $ 51.9
Aggregate Intrinsic Value, Options vested and expected to vest | $ $ 92.2
Options, weighted-average grant-date fair value $ 10.40