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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average remaining contractual life options outstanding 7 years 2 months 12 days    
Weighted-average remaining contractual life vested and exercisable options outstanding 5 years 8 months 12 days    
Proceeds from exercise of stock options $ 14,185 $ 4,959  
Proceeds from settlement of stock option exercised in prior periods $ 300    
Weighted-average volatility 68.20% 70.70%  
Share-based compensation expense $ 8,484 $ 4,675  
Unrecognized share-based compensation expense related to unvested stock options $ 109,100    
Unrecognized share-based compensation expense related to unvested stock options, weighted-average period for recognition 3 years 2 months 12 days    
Option Valuation Model      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected dividend yield 0.00%    
Restricted Stock Units      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Unrecognized share-based compensation expense related to unvested stock options, weighted-average period for recognition 3 years 9 months 18 days    
Unrecognized share-based compensation expense related to unvested RSUs $ 27,000    
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 23,600,732   18,617,001
2019 Equity Incentive Plan | Non Employee Directors      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Vesting period 4 years    
2019 Equity Incentive Plan | Grant      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares authorized for issuance 29,148,701    
2019 Equity Incentive Plan | Grant | Prepaid Expenses and Other Current Assets      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Unsettled cash proceeds related to stock options exercised   $ 500  
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 | Prepaid Expenses and Other Current Assets      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Unsettled cash proceeds related to stock options exercised $ 500