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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract] |
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares | 12,778,984
Shares Subject to Outstanding Stock Options, Stock Options granted | shares | 4,425,336
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares | (1,655,959)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares | (620,864)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares | (1,406,500)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares | 13,520,997
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares | 7,568,858
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares | $ 19.72
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares | 11.67
Weighted Average Exercise Price per Share, Stock Options forfeited or cancelled | $ / shares | 28.54
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares | 32.60
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares | 5.59
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares | 16.88
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares | $ 15.01
Aggregate Intrinsic Value, Stock Option outstanding | $ | $ 6,651
Aggregate Intrinsic Value, Stock Options vested and exercisable | $ | $ 6,438

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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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