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, 2023
Dec. 31, 2022
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 154,106,277 143,779,497
Stock options outstanding under 2016 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 13,574,585 17,093,447
Unvested RSU's under 2016 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 4,675,812 6,635,600
Unvested RSU's under 2021 Stock Plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 26,400,887 21,901,527
Remaining shares available for future issuance under the 2021 plan    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 80,671,660 69,365,590
Common stock warrants    
Class Of Stock [Line Items]    
Total common stock reserved (in shares) 28,783,333 28,783,333