Equity Incentive Plans - Summary of Stock Option Activity (Details) - 2011 Equity Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Awards
Number of Awards, Outstanding, Beginning balance	2,574,354	3,436,785	4,082,302
Number of Awards, Granted			305,494
Number of Awards, Exercised	(1,098,841)	(806,008)	(851,190)
Number of Awards, Cancelled	(19,185)	(56,423)	(99,821)
Number of Awards, Outstanding, Ending balance	1,456,328	2,574,354	3,436,785	4,082,302
Number of Awards, Vested and exercisable	1,220,470
Number of Awards, Vested and expected to vest	1,450,206
Weighted Average Exercise Price
Weighted Average Exercise Price, Outstanding, Beginning balance	$ 1.43	$ 1.36	$ 0.90
Weighted Average Exercise Price, Granted			7.47
Weighted Average Exercise Price, Exercised	0.74	1.08	0.55
Weighted Average Exercise Price, Cancelled	2.64	2.17	8.39
Weighted Average Exercise Price, Outstanding, Ending balance	1.93	1.43	1.36	$ 0.90
Weighted Average Exercise Price, Vested and exercisable	1.62
Weighted Average Exercise Price, Vested and expected to vest	1.92
Weighted Average Fair Value
Weighted Average Fair Value, Outstanding, Beginning balance	1.02	0.98	0.74
Weighted Average Fair Value, Granted			3.73
Weighted Average Fair Value, Exercised	0.59	0.83	0.50
Weighted Average Fair Value, Cancelled	1.57	1.36	3.62
Weighted Average Fair Value, Outstanding, Ending balance	1.34	$ 1.02	$ 0.98	$ 0.74
Weighted Average Fair Value, Vested and exercisable	1.15
Weighted Average Fair Value, Vested and expected to vest	$ 1.33
Weighted Average Remaining Contractual Life (in years)
Weighted Average Remaining Contractual Life (in years), Outstanding	6 years 2 months 12 days	7 years 25 days	8 years 18 days	8 years 9 months 3 days
Weighted Average Remaining Contractual Life (in years), Vested and exercisable	6 years 1 month 9 days
Weighted Average Remaining Contractual Life (in years), Vested and expected to vest	6 years 2 months 12 days
Intrinsic Value
Intrinsic Value, Outstanding, Beginning balance	$ 231,286	$ 295,331	$ 22,667
Intrinsic Value, Exercised	80,830	73,299	49,413
Intrinsic Value, Outstanding, Ending balance	89,749	$ 231,286	$ 295,331	$ 22,667
Intrinsic Value, Vested and exercisable	75,602
Intrinsic Value, Vested and expected to vest	$ 89,388