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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares 13,520,997
Shares Subject to Outstanding Stock Options, Stock Options granted | shares 1,612,032
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares (123,317)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares (80,622)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares (145,758)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares 14,783,332
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares 8,486,735
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares $ 16.88
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares 8.46
Weighted Average Exercise Price per Share, Stock Options forfeited | $ / shares 24.03
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares 27.61
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares 4.61
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares 15.97
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares $ 15.35
Aggregate Intrinsic Value, Stock Option outstanding | $ $ 13,654
Aggregate Intrinsic Value, Stock Options vested and exercisable | $ $ 12,075