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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Oct. 01, 2020 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Unvested shares subject to repurchase rights |  | 0 |  | 0 |  |  | 0
Vesting period |  |  |  | 4 years |  |  |
Vesting rate at the end of one year |  |  |  | 25.00% |  |  |
vesting rights description |  |  |  | Options granted to new hires generally vest over a four-year period, with 25% vesting at the end of one year and the remaining vesting monthly thereafter. Options granted as merit awards generally vest monthly over a three- or four-year period. |  |  |
Closing price of common stock |  | $ 21.67 |  | $ 21.67 |  |  |
Weighted-average grant date fair value of options granted |  | $ 11.71 | $ 8.81 | $ 5.40 | $ 8.19 |  |
Unrecognized stock-based compensation cost of unvested options |  | $ 11.4 |  | $ 11.4 |  |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period |  |  |  | 2 years 7 months 6 days |  |  |
Dividend yield |  | 0.00% | 0.00% | 0.00% | 0.00% |  |
Options Granted as Merit Awards | Tranche One |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 3 years |  |  |
Options Granted as Merit Awards | Tranche Two |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |  |
Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |  |
Closing price of common stock |  | $ 21.67 |  | $ 21.67 |  |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period |  |  |  | 3 years |  |  |
Unrecognized stock-based compensation cost of unvested RSUs |  | $ 5.7 |  | $ 5.7 |  |  |
Restricted Stock Units | Tranche One |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 3 years |  |  |
Restricted Stock Units | Tranche Two |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  | 3 years |  |  |
Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Expected term |  | 6 years 29 days | 6 years 29 days | 6 years 29 days | 6 years 10 months 13 days |  |
Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Expected term |  | 5 years 9 months 7 days | 6 years | 5 years 6 months | 5 years |  |
2011 Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Performance-based Options granted |  | 3,548,764 |  | 3,548,764 |  |  | 4,474,057
2011 Plan | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Options granted in years |  |  |  | 10 years |  |  |
2019 Plan | Performance-Based Stock Option |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Options granted in years |  |  |  | 10 years |  |  |
Closing price of common stock |  | $ 21.67 |  | $ 21.67 |  |  |
Unrecognized stock-based compensation cost of unvested options |  | $ 1.2 |  | $ 1.2 |  |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period |  |  |  | 4 years |  |  |
Performance-based Options granted |  | 421,000 |  | 421,000 |  |  |
Share based compensation arrangement by share based payment equal to or greater than average market capital |  |  |  | $ 1,000.0 |  |  |
Average market capitalization threshold satisfaction period |  |  |  | 30 days |  |  |
Share based compensation arrangement by share based payment award description |  |  |  | The shares subject to the PSO will vest in full if the Company’s average market capitalization is equal to or greater than $1 billion over a 30 calendar day period. Upon a change in control, the vesting of the shares subject to the PSO will accelerate on a pro rata basis based on the price per share in such change in control transaction multiplied by the price per share at such time divided by $1 billion, with up to 100% of the shares eligible for such accelerated vesting. |  |  |
Expected term |  |  |  | 10 years |  |  |
Expected volatility |  |  |  | 63.60% |  |  |
Risk-free interest rate |  |  |  | 1.02% |  |  |
2019 Plan | Performance-Based Stock Option | Scenario, Forecast |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Stock-based compensation cost to be recognized |  |  |  |  |  | $ 1.2 |
2019 Plan | Performance-Based Stock Option | Subsequent Event |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share based compensation arrangement by share based payment equal to or greater than average market capital | $ 1,000.0 |  |  |  |  |  |
Average market capitalization threshold satisfaction period | 30 days |  |  |  |  |  |
Share based compensation arrangement by share based payment award description | the Company’s average market capitalization was equal to or greater than $1 billion over a 30 calendar day period and the PSO vested in full. |  |  |  |  |  |
2019 Plan | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Options granted in years |  |  |  | 10 years |  |  |
2019 Plan | Maximum | Performance-Based Stock Option |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting rate at the end of one year |  |  |  | 100.00% |  |  |
2019 Plan | Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Percentage of exercise price options granted |  |  |  | 100.00% |  |  |
2019 Employee Stock Purchase Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Percentage of purchase price of common stock |  |  |  | 85.00% |  |  |
Common stock shares purchased |  |  |  | 71,480 |  |  |
Expected term |  |  |  | 6 months |  |  |
Expected volatility |  |  |  | 102.10% |  |  |
Risk-free interest rate |  |  |  | 0.10% |  |  |
Dividend yield |  |  |  | 0.00% |  |  |
2019 Employee Stock Purchase Plan | Maximum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Percentage of earnings for purchase of common stock at discounted price |  |  |  | 15.00% |  |  |

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