Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average remaining contractual life stock options outstanding	6 years 2 months 12 days
Weighted-average remaining contractual life vested and exercisable stock options	5 years 3 months 18 days
Weighted-average grant date fair value	$ 5.61	$ 7.36	$ 24.22
Total intrinsic value of options exercised	$ 1,400	$ 7,600	$ 156,500
Proceeds from exercise of stock options	2,245	7,890	26,717
Proceeds from settlement of stock option exercised in prior periods			300
Recognized share-based compensation expense	$ 62,908	55,477	43,251
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
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of RSUs vested	$ 12,000	$ 3,500	$ 800
Market-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units outstanding	956,337
Weighted-average grant date fair value per share	$ 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
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			494,234
2009 Equity Incentive Plan | Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares available for future issuance	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	15,299,763	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	34,853,581
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	$ 8.29	$ 11.43	$ 37.98
Restricted stock units outstanding	9,669,460	5,981,755
Weighted-average grant date fair value per share	$ 10.32	$ 14.11