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Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)
Dec. 31, 2020
shares
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 35,961,734
Exercise of Outstanding Common Stock Options and Vesting of Outstanding Common Restricted Stock Units Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 14,483,560
Grant | 2019 Equity Incentive Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 18,617,001
Grant | Employee Stock Purchase Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 2,804,298
Exercise of Common Stock Warrant  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 56,875