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Stock Option Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Mar. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Aggregate intrinsic value of options exercised   $ 47,861 $ 24,867 $ 787
Weighted average grant date fair value (in USD per share)   $ 18.22 $ 10.17 $ 2.93
Fair value of options vested   $ 5,138 $ 2,221 $ 569
Common stock reserved for future issuance (in shares)   6,660,892 6,237,832  
Compensation expensed not yet recognized   $ 20,188    
ISO and NSO        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Option term   10 years    
Option vesting term   4 years    
ISO and NSO | 10% Stockholders        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise threshold as a percentage of fair value of shares   110.00%    
ISO        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise threshold as a percentage of fair value of shares   100.00%    
NSO        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Exercise threshold as a percentage of fair value of shares   85.00%    
2019 ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of additional shares allowable under the plan (in shares) 1,200,000      
Percent of outstanding shares of common stock 1.00%      
Common stock reserved for future issuance (in shares) 434,000 746,552    
Percent of purchase of price of common stock 85.00%      
Issuance of common stock under employee stock purchase plan (in shares)   114,175,000    
Shares available for future issuance (in shares)   632,377,000    
Compensation expensed not yet recognized, period for recognition   4 months 17 days    
Unrecognized compensation costs related to the ESPP   $ 295    
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation expensed not yet recognized, period for recognition   3 years 7 days    
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Option vesting term   4 years    
Restricted stock vested (in shares)   0    
Compensation expensed not yet recognized, period for recognition   3 years 5 months 23 days    
Unrecognized compensation costs of unvested RSUs   $ 2,716    
2019 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares of common stock reserved for issuance (in shares) 2,317,000 3,635,009    
Percent of outstanding shares of common stock 4.00%      
2019 Equity Incentive Plan | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of additional shares allowable under the plan (in shares) 3,000,000