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Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)
Sep. 30, 2023
shares
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 44,301,810
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 13,424,786
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 11,851,128
Common Stock Options Granted | 2019 Equity Incentive Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 14,790,548
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