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Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2025
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]  
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares 12,295,297
Shares Subject to Outstanding Stock Options, Stock Options granted | shares 759,724
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares (183,056)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares (52,837)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares (882,493)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares 11,936,635
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares 9,612,672
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares $ 15.11
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares 8.12
Weighted Average Exercise Price per Share, Stock Options forfeited | $ / shares 8.65
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares 27.61
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares 6.18
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares 15.37
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares $ 16.95
Aggregate Intrinsic Value, Stock Option outstanding | $ $ 5,371
Aggregate Intrinsic Value, Stock Options vested and exercisable | $ $ 3,544