Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Schedule of Shares Reserved for Future Issuance (Details)

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Stockholders' Equity - Schedule of Shares Reserved for Future Issuance (Details) - shares
Dec. 31, 2022
Dec. 31, 2021
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 143,779,497 127,333,646
Stock options outstanding under 2016 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 17,093,447 21,252,552
Unvested RSU's under 2016 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 6,635,600 10,032,871
Unvested RSU's under 2021 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 21,901,527 0
Remaining shares available for future issuance under the 2021 plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 69,365,590 67,264,890
Common stock warrants    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 28,783,333 28,783,333