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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average remaining contractual life stock options outstanding 7 years    
Weighted-average remaining contractual life vested and exercisable stock options 5 years 6 months    
Grant date fair value $ 7.36 $ 24.22 $ 21.11
Total intrinsic value of options exercised $ 7,600 $ 156,500 $ 190,400
Proceeds from exercise of stock options 7,890 26,717 21,748
Proceeds from settlement of stock option exercised in prior periods   300 500
Recognized share-based compensation expense $ 55,477 43,251 24,761
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    
Restricted Stock Units (RSUs)      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Fair value of RSUs vested $ 3,500 $ 800 $ 200
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    
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    
2009 Equity Incentive Plan | Grant      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares available for future issuance 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 14,581,975 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 29,170,696    
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 $ 11.43 $ 37.98 $ 28.10