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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
Dec. 31, 2024
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]  
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares 12,875,045
Shares Subject to Outstanding Stock Options, Stock Options granted | shares 1,008,364
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares (718,920)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares (765,392)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares (103,800)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares 12,295,297
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares 10,027,350
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares $ 15.9
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares 3.99
Weighted Average Exercise Price per Share, Stock Options forfeited or cancelled | $ / shares 11.78
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares 18.61
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares 2.32
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares 15.11
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares $ 16.3
Aggregate Intrinsic Value, Stock Option outstanding | $ $ 2,157
Aggregate Intrinsic Value, Stock Options vested and exercisable | $ $ 497