Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)	Sep. 30, 2022 shares
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	37,501,134
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	13,789,307
Shares Issuable Upon the Vesting of Outstanding Restricted Stock Units and the Maximum Outstanding Market-based Restricted Stock Units Granted
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	5,960,617
Common Stock Options Granted | 2019 Equity Incentive Plan
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	14,946,912
Common Stock Options Granted | Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	2,804,298