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Equity Incentive Plans - Summary of Stock Option Activity Under 2008 Plan 2009 Plan and 2019 Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]    
Shares Subject to Outstanding Options, Options outstanding, Beginning Balance 16,646,654  
Shares Subject to Outstanding Options, Options granted 3,241,701  
Shares Subject to Outstanding Options, Options forfeited or cancelled (235,541)  
Shares Subject to Outstanding Options, Options expired (15,000)  
Shares Subject to Outstanding Options, Options exercised (5,204,254)  
Shares Subject to Outstanding Options, Options outstanding, Ending Balance 14,433,560 16,646,654
Shares Subject to Outstanding Options, Options vested and exercisable 7,924,779  
Weighted Average Exercise Price per Share, Options outstanding, Beginning Balance $ 6.14  
Weighted Average Exercise Price per Share, Options granted 33.36  
Weighted Average Exercise Price per Share, Options forfeited or cancelled 16.17  
Weighted Average Exercise Price per Share, Options expired 0.16  
Weighted Average Exercise Price per Share, Options exercised 4.14  
Weighted Average Exercise Price per Share, Options outstanding, Ending Balance 12.82 $ 6.14
Weighted Average Exercise Price per Share, Options vested and exercisable $ 6.41  
Aggregate Intrinsic Value, Option outstanding $ 668,458 $ 398,379
Aggregate Intrinsic Value, Options vested and exercisable $ 417,801