Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average remaining contractual life stock options outstanding			6 years 3 months 18 days
Weighted-average remaining contractual life vested and exercisable options outstanding			5 years 2 months 12 days
Weighted-average grant date fair value			$ 5.61	$ 7.36
Recognized share-based compensation expense	$ 15,336	$ 14,142	$ 47,352	$ 41,183
Option Valuation Model
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield			0.00%
Monte Carlo Valuation Model
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Recognized share-based compensation expense			$ 9,800	$ 4,700
Requisite service period term			3 years
Market-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units outstanding	956,337		956,337
Weighted-average grant date fair value per share	$ 15.13		$ 15.13
Market-Based Restricted Stock Units | Monte Carlo Valuation Model
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value			$ 13.82	$ 18.89
Market-Based Restricted Stock Units | Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance period term			3 years
Market-Based Restricted Stock Units | Minimum | Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award	0		0			0
Market-Based Restricted Stock Units | Maximum | Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award	709,220		709,220			494,234
2009 Equity Incentive Plan | Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for future issuance	0		0
2009 Equity Incentive Plan | Grant | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Option expiration period			10 years
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for future issuance	14,790,548		14,790,548		14,581,975
2019 Equity Incentive Plan | Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance	34,913,524		34,913,524
2019 Equity Incentive Plan | Grant | Non Employee Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			4 years
2019 Equity Incentive Plan | Grant | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Option expiration period			10 years
2019 Equity Incentive Plan | Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value			$ 8.36	$ 11.72
Restricted stock units outstanding	9,938,454		9,938,454		5,981,755
Weighted-average grant date fair value per share	$ 10.49		$ 10.49		$ 14.11