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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Weighted-average remaining contractual life options outstanding     7 years 3 months 18 days    
Weighted-average remaining contractual life vested and exercisable options     6 years    
Proceeds from exercise of stock options     $ 20,513 $ 11,296  
Proceeds from settlement of stock option exercised in prior periods     $ 300    
Weighted-average volatility     68.30% 71.00%  
Share-based compensation expense $ 11,249 $ 6,373 $ 19,733 $ 11,048  
Unrecognized share-based compensation expense related to unvested stock options 103,800   $ 103,800    
Unrecognized share-based compensation expense related to unvested stock options, weighted-average period for recognition     3 years 1 month 6 days    
Option Valuation Model          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expected dividend yield     0.00%    
Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unrecognized share-based compensation expense related to unvested stock options, weighted-average period for recognition     3 years 7 months 6 days    
Unrecognized share-based compensation expense related to unvested RSUs $ 27,400   $ 27,400    
2009 Equity Incentive Plan | Grant          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares available for future issuance 0   0    
2009 Equity Incentive Plan | Grant | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Option expiration period     10 years    
2019 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares available for future issuance 23,349,434   23,349,434   18,617,001
2019 Equity Incentive Plan | Non Employee Directors          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period     4 years    
2019 Equity Incentive Plan | Grant          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares authorized for issuance 29,124,570   29,124,570    
2019 Equity Incentive Plan | Grant | Prepaid Expenses and Other Current Assets          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unsettled cash proceeds related to stock options exercised   $ 500   $ 500  
2019 Equity Incentive Plan | Grant | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Option expiration period     10 years    
2019 Equity Incentive Plan | Restricted Stock Units | Prepaid Expenses and Other Current Assets          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unsettled cash proceeds related to stock options exercised $ 200   $ 200