Equity Incentive Plan - Schedule of Options Exercisable, Vested or Expected to Vest (Details) - $ / shares	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Options exercisable at end of year	13,650,210	12,243,887
Options vested or expected to vest	20,183,769	18,416,243
Options exercisable at end of year, weighted average exercise price	$ 17.86	$ 19.13
Options vested or expected to vest, weighted average exercise price	$ 14.82	$ 18.77