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Stock-based Compensation - Summary of Options to Purchase Common Stock (Details) - 2019 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Options, Outstanding, beginning balance 8,442,824 5,063,688  
Number of Options, Granted 5,597,148 3,738,071  
Number of Options, Exercised (655,772) (180,287)  
Number of Options, Forfeited (729,202) (178,648)  
Number of Options, Outstanding, ending balance 12,654,998 8,442,824 5,063,688
Number of Options, Exercisable 3,588,568    
Number of Options, Vested and expected to vest 12,654,998    
Weighted average exercise price, Outstanding, beginning balance $ 12.79 $ 8.94  
Weighted average exercise price, Granted 15.35 17.74  
Weighted average exercise price, Exercised 9.65 8.43  
Weighted average exercise price, Forfeited 14.96 11.52  
Weighted average exercise price, Outstanding, ending balance 13.96 $ 12.79 $ 8.94
Weighted average exercise price, Exercisable 12.74    
Weighted average exercise price, Vested and expected to vest $ 13.96    
Weighted Average Remaining Contractual Term, Outstanding 8 years 8 months 12 days    
Weighted Average Remaining Contractual Term, Exercisable (In years) 8 years 1 month 6 days    
Weighted Average Remaining Contractual Term, Vested and expected to vest (In years) 8 years 8 months 12 days    
Aggregate Intrinsic Value, Outstanding $ 39,633 $ 0 $ 0
Aggregate Intrinsic Value, Exercised     $ 0
Aggregate Intrinsic Value, Exercisable 13,393    
Aggregate Intrinsic Value, Vested or expected to vest $ 39,633