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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Weighted-average remaining contractual life stock options outstanding     7 years 2 months 12 days    
Weighted-average remaining contractual life vested and exercisable stock options     5 years 7 months 6 days    
Proceeds from exercise of stock options     $ 7,568 $ 23,439  
Proceeds from settlement of stock option exercised in prior periods       300  
Unsettled cash proceeds related to stock options exercised   $ 100   $ 100  
Grant date fair value     $ 7.36 $ 25.25  
Recognized share-based compensation expense $ 14,142 $ 11,643 $ 41,183 $ 31,376  
Option Valuation Model          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expected dividend yield     0.00%    
Monte Carlo Valuation Model          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Recognized share-based compensation expense     $ 4,700    
Requisite service period term     3 years    
Market-Based Restricted Stock Units | Monte Carlo Valuation Model          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grant date fair value     $ 18.89    
Market-Based Restricted Stock Units | Chief Executive Officer          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Performance period term     3 years    
Market-Based Restricted Stock Units | Minimum | Chief Executive Officer          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock that may be earned under the award 0   0    
Market-Based Restricted Stock Units | Maximum | Chief Executive Officer          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock that may be earned under the award 494,234   494,234    
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 14,946,912   14,946,912   22,299,923
2019 Equity Incentive Plan | Grant          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares authorized for issuance 29,217,365   29,217,365    
2019 Equity Incentive Plan | Grant | Non Employee Directors          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period     4 years    
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 (RSUs)          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Grant date fair value     $ 11.72 $ 40.21