Net Loss Per Share - Securities Excluded from the Computations of Diluted Net Loss Per Share (Details) - shares shares in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from the computations of diluted net loss per share (in shares)	7.3	5.4	4.6
Stock options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from the computations of diluted net loss per share (in shares)	6.8	5.3	4.3
Restricted stock awards
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from the computations of diluted net loss per share (in shares)	0.0	0.0	0.2
Restricted stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from the computations of diluted net loss per share (in shares)	0.5	0.1	0.1