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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) $ / shares shares
Share-Based Payment Arrangement [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 | (1,030,388)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares | (757,191)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares | (470,405)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares | 12,875,045
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares | 9,071,627
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 or cancelled | $ / shares | 17.07
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares | 22.92
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares | 4.77
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares | 15.9
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares | $ 16.2
Aggregate Intrinsic Value, Stock Option outstanding | $ | $ 506
Aggregate Intrinsic Value, Stock Options vested and exercisable | $ | $ 506

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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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