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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
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