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Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)
Mar. 31, 2024
shares
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 50,411,167
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 13,588,812
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 15,986,199
Common Stock Options Granted | 2019 Equity Incentive Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 15,149,986
Common Stock Options Granted | Employee Stock Purchase Plan  
Class Of Stock [Line Items]  
Total shares of common stock reserved for future issuance 5,686,170