Equity Incentive Plans - Summary of Stock Option Activity Under 2009 Plan and 2019 Plan (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Beginning Balance | shares	13,520,997
Shares Subject to Outstanding Stock Options, Stock Options granted | shares	1,612,032
Shares Subject to Outstanding Stock Options, Stock Options forfeited | shares	(1,030,388)
Shares Subject to Outstanding Stock Options, Stock Options expired | shares	(757,191)
Shares Subject to Outstanding Stock Options, Stock Options exercised | shares	(470,405)
Shares Subject to Outstanding Stock Options, Stock Options outstanding, Ending Balance | shares	12,875,045
Shares Subject to Outstanding Stock Options, Stock Options vested and exercisable | shares	9,071,627
Weighted Average Exercise Price per Share, Stock Options outstanding, Beginning Balance | $ / shares	$ 16.88
Weighted Average Exercise Price per Share, Stock Options granted | $ / shares	8.46
Weighted Average Exercise Price per Share, Stock Options forfeited or cancelled | $ / shares	17.07
Weighted Average Exercise Price per Share, Stock Options expired | $ / shares	22.92
Weighted Average Exercise Price per Share, Stock Options exercised | $ / shares	4.77
Weighted Average Exercise Price per Share, Stock Options outstanding, Ending Balance | $ / shares	15.9
Weighted Average Exercise Price per Share, Stock Options vested and exercisable | $ / shares	$ 16.2
Aggregate Intrinsic Value, Stock Option outstanding | $	$ 506
Aggregate Intrinsic Value, Stock Options vested and exercisable | $	$ 506