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Net Loss Per Share - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 22,304,771 24,596,844
Options to purchase common stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 13,525,333 13,881,292
Unvested RSUs    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 6,293,739 8,222,931
Purchase rights committed under the ESPP    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 167,621 174,543
Convertible debt    
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]    
Total (in shares) 2,318,078 2,318,078