Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended		3 Months Ended
		Mar. 31, 2023	Mar. 31, 2022	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
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 options outstanding				5 years 2 months 12 days
Weighted-average grant date fair value				$ 2.7	$ 5.61
Recognized share-based compensation expense	[1]			$ 14,298	$ 14,671
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				$ 6,700	$ 9,800
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				1,988,347
Weighted-average grant date fair value per share				$ 10.65
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				$ 6.49	$ 13.82
Market-Based Restricted Stock Units | Chief Executive Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Performance period term				3 years
Weighted-average grant date fair value		$ 15.13	$ 15.13
Market-Based Restricted Stock Units | Former Chief Financial Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award				295,580
Market-Based Restricted Stock Units | President/Chief Operating Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award				350,000
Market-Based Restricted Stock Units | Chief Scientific Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award				709,220
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	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		1,912,674	1,912,674	709,220	1,912,674
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				15,149,986		15,299,763
2019 Equity Incentive Plan | Grant
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance				39,881,924
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				$ 3.99	$ 8.46
Restricted stock units outstanding				12,009,505		9,669,460
Weighted-average grant date fair value per share				$ 7.39		$ 10.32

[1] Represents share-based compensation expense related to stock option, restricted stock unit and market-based restricted stock unit awards. See Note 11, Equity Incentive Plans for details on our share-based compensation expense.