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Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Weighted-average remaining contractual life stock options outstanding |  |  | 6 years 8 months 12 days |  |  |
Weighted-average remaining contractual life vested and exercisable options outstanding |  |  | 5 years 6 months |  |  |
Weighted-average grant date fair value |  |  | $ 5.61 | $ 7.36 |  |
Recognized share-based compensation expense | $ 17,345 | $ 14,180 | $ 32,016 | $ 27,041 |  |
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 |  |  | $ 9,800 | $ 4,700 |  |
Requisite service period term |  |  | 3 years |  |  |
Market-Based Restricted Stock Units |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Restricted stock units outstanding | 956,337 |  | 956,337 |  |  |
Weighted-average grant date fair value per share | $ 15.13 |  | $ 15.13 |  |  |
Market-Based Restricted Stock Units | Monte Carlo Valuation Model |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Weighted-average grant date fair value |  |  | $ 13.82 | $ 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 |  | 0 |  |  | 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 | 709,220 |  | 709,220 |  |  | 494,234
2009 Equity Incentive Plan | Grant |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Shares available for future issuance | 0 |  | 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 | 13,408,783 |  | 13,408,783 |  | 14,581,975 |
2019 Equity Incentive Plan | Grant |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares authorized for issuance | 35,014,382 |  | 35,014,382 |  |  |
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] |  |  |  |  |  |
Weighted-average grant date fair value |  |  | $ 8.39 | $ 11.66 |  |
Restricted stock units outstanding | 10,742,651 |  | 10,742,651 |  | 5,981,755 |
Weighted-average grant date fair value per share | $ 10.65 |  | $ 10.65 |  | $ 14.11 |

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