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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2022
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance 12,778,984
Shares Subject to Outstanding Stock Options, Stock Options granted 4,397,538
Shares Subject to Outstanding Stock Options, Stock Options forfeited or cancelled (1,240,578)
Shares Subject to Outstanding Stock Options, Stock Options expired (367,736)
Shares Subject to Outstanding Stock Options, Stock Options exercised (1,230,089)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance 14,338,119
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable 6,985,837
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance $ 19.72
Weighted Average Exercise Price per Share, Stock Options granted 11.66
Weighted Average Exercise Price per Share, Stock Options forfeited or cancelled 29.13
Weighted Average Exercise Price per Share, Stock Options expired 32.41
Weighted Average Exercise Price per Share, Stock Options exercised 5.46
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance 17.33
Weighted Average Exercise Price per Share, Stock Options vested and exercisable $ 13.90
Aggregate Intrinsic Value, Stock Option outstanding $ 9,550
Aggregate Intrinsic Value, Stock Options vested and exercisable $ 8,807