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Equity Incentive Plans - Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2021
Shares Subject to Options  
Stock options outstanding, beginning balance (in shares) 2,920,700
Granted (in shares) 1,037,374
Exercises (in shares) (77,034)
Forfeitures and cancellations (in shares) (149,232)
Stock options outstanding, ending balance (in shares) 3,731,808
Stock options exercisable, ending balance (in shares) 1,744,975
Weighted-Average Exercise Price per Share  
Stock options outstanding, beginning balance (in dollars per share) $ 26.67
Granted (in dollars per share) 29.52
Exercises (in dollars per share) 9.86
Forfeitures and cancellations (in dollars per share) 29.47
Stock options outstanding, ending balance (in dollars per share) 27.70
Stock options exercisable, ending balance (in dollars per share) $ 27.82
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value  
Weighted average remaining contractual term, options outstanding (in years) 7 years 6 months 3 days
Weighted average remaining contractual term, options exercisable (in years) 5 years 9 months 3 days
Aggregate intrinsic value, options outstanding $ 24,823
Aggregate intrinsic value, options exercisable $ 17,109