Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended			3 Months Ended		6 Months Ended
		Apr. 30, 2024	Mar. 31, 2023	Mar. 31, 2022	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average remaining contractual life stock options outstanding							5 years 9 months 18 days
Weighted-average remaining contractual life vested and exercisable options outstanding							4 years 10 months 24 days
Termination description							The market-based restricted stock units granted to our former chief financial officer, which had a grant date fair value of $6.49, were forfeited in April 2024 upon his separation from the company
Weighted-average grant date fair value							$ 2.7	$ 5.61
Recognized share-based compensation expense	[1]				$ 12,958	$ 17,345	$ 27,256	$ 32,016
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							$ 7,200	$ 9,800
Market-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units outstanding					1,915,557		1,915,557
Weighted-average grant date fair value per share					$ 10.8		$ 10.8
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
Grant date fair value forfeited		$ 6.49
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		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		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		709,220
Market-Based Restricted Stock Units | Current Chief Financial Officer
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock that may be earned under the award					150,000		150,000
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		709,220
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					17,255,777		17,255,777		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					39,821,286		39,821,286
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	$ 8.39
Grant date fair value forfeited							$ 8.11
Restricted stock units outstanding					10,722,498		10,722,498		9,669,460
Weighted-average grant date fair value per share					$ 7.4		$ 7.4		$ 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.