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Equity Incentive Plans - Summary of Restricted Stock Unit Activity (Details) - $ / shares
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Weighted-Average Grant Date Fair Value per Share    
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Granted $ 2.7 $ 5.61
Restricted Stock Units (RSUs) | 2019 Equity Incentive Plan    
Restricted Stock Units Outstanding    
Restricted Stock Units Outstanding, Nonvested Outstanding, Beginning Balance 9,669,460  
Restricted Stock Units Outstanding, Granted 5,406,574  
Restricted Stock Units Outstanding, Forfeited (2,019,499)  
Restricted Stock Units Outstanding, Vested (2,334,037)  
Restricted Stock Units Outstanding, Nonvested Outstanding, Ending Balance 10,722,498  
Weighted-Average Grant Date Fair Value per Share    
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Beginning Balance $ 10.32  
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Granted 3.99 $ 8.39
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Forfeited 8.11  
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Vested 10.96  
Weighted-Average Grant Date Fair Value per Share, Nonvested Outstanding, Ending Balance $ 7.4