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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance 13,520,997
Shares Subject to Outstanding Stock Options, Stock Options granted 1,612,032
Shares Subject to Outstanding Stock Options, Stock Options forfeited (502,667)
Shares Subject to Outstanding Stock Options, Stock Options expired (152,970)
Shares Subject to Outstanding Stock Options, Stock Options exercised (347,405)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance 14,129,987
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable 8,872,007
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance $ 16.88
Weighted Average Exercise Price per Share, Stock Options granted 8.46
Weighted Average Exercise Price per Share, Stock Options forfeited 17.43
Weighted Average Exercise Price per Share, Stock Options expired 30.78
Weighted Average Exercise Price per Share, Stock Options exercised 6.16
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance 16.01
Weighted Average Exercise Price per Share, Stock Options vested and exercisable $ 15.67
Aggregate Intrinsic Value, Stock Option outstanding $ 2,377
Aggregate Intrinsic Value, Stock Options vested and exercisable $ 2,377