Equity Plans and Stock-based Compensation - RSU Activity (Details) - Restricted stock units (RSUs)	9 Months Ended
	Sep. 30, 2023 $ / shares shares
Number of RSUs
Balance at beginning of period (in shares) | shares	5,733,227
Granted (in shares) | shares	5,154,438
Released (in shares) | shares	(1,402,679)
Forfeited (in shares) | shares	(2,079,799)
Balance at end of period (in shares) | shares	7,405,187
Weighted Average Grant Date Fair Value
Balance at beginning of period (in dollars per share) | $ / shares	$ 7.07
Granted (in dollars per share) | $ / shares	1.60
Released (in dollars per share) | $ / shares	6.77
Forfeited (in dollars per share) | $ / shares	5.29
Balance at end of period (in dollars per share) | $ / shares	$ 3.82