Stockholders' Equity - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Outstanding options
Balance (in shares)	11,260,788	13,675,252
Granted (in shares)	1,868,692	1,050,665
Exercised (in shares)	(389,844)	(3,360,280)
Cancelled (in shares)	(181,478)	(104,849)
Balance (in shares)	12,558,158	11,260,788	13,675,252
Vested and exercisable (in shares)	12,389,042
Vested and expected to vest (in shares)	9,336,563
Weighted-average exercise price
Balance (in dollars per share)	$ 12.11	$ 9.82
Granted (in dollars per share)	12.77	20.70
Exercised (in dollars per share)	8.07	5.51
Cancelled (in dollars per share)	14.33	10.78
Balance (in dollars per share)	12.30	$ 12.11	$ 9.82
Vested and exercisable (in dollars per share)	12.28
Vested and expected to vest (in dollars per share)	$ 11.92
Weighted-average remaining contractual term (years)
Outstanding	6 years 4 months 24 days	6 years 8 months 12 days	6 years 4 months 24 days
Vested and exercisable	6 years 3 months 18 days
Vested and expected to vest	5 years 8 months 12 days
Aggregate intrinsic value (thousands)
Outstanding	$ 93	$ 63,862	$ 113,499
Exercised	1,974	$ 41,241
Vested and exercisable	93
Vested and expected to vest	$ 93