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Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)
Mar. 31, 2023
shares
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 44,794,592
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 14,783,332
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 13,070,824
Common Stock Options Granted | 2019 Equity Incentive Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 12,705,088
Common Stock Options Granted | Employee Stock Purchase Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 4,235,348