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Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)
Dec. 31, 2022
shares
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 37,383,259
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 13,520,997
Shares Issuable Upon the Vesting of Outstanding Restricted Stock Units and the Maximum Outstanding Market-based Restricted Stock Units Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 6,475,989
Common Stock Options Granted | 2019 Equity Incentive Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 14,581,975
Common Stock Options Granted | Employee Stock Purchase Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 2,804,298