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Stockholders’ Equity and Equity Incentive Plans - Weighted-Average Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Dividend rate 0.00% 0.00% 0.00%
Weighted-average grant date fair value of options granted (in usd per share) $ 8.58 $ 13.70 $ 20.30
ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Risk-free interest rate     0.10%
Minimum      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Fair market value of common stock (in usd per share) $ 12.56 $ 18.63 $ 39.75
Expected term (in years) 5 years 5 years 5 years 9 months 18 days
Risk-free interest rate 3.50% 1.80% 0.60%
Expected volatility 55.00% 54.00% 51.00%
Minimum | ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Expected term (in years) 6 months 6 months 4 months 24 days
Risk-free interest rate 5.40% 1.60%  
Expected volatility 48.00% 83.00% 60.00%
Maximum      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Fair market value of common stock (in usd per share) $ 16.94 $ 31.79 $ 54.07
Expected term (in years) 7 years 7 years 6 years 8 months 12 days
Risk-free interest rate 4.00% 3.40% 1.00%
Expected volatility 59.00% 57.00% 54.00%
Maximum | ESPP      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Expected term (in years) 1 year 1 year 1 year 4 months 24 days
Risk-free interest rate 5.10% 2.20%  
Expected volatility 59.00% 79.00% 76.00%