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, 2021 USD ($) $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Shares Subject to Outstanding Options, Options outstanding, Beginning Balance | shares	14,433,560
Shares Subject to Outstanding Options, Options granted | shares	3,052,025
Shares Subject to Outstanding Options, Options forfeited or cancelled | shares	(992,428)
Shares Subject to Outstanding Options, Options expired | shares	(40,116)
Shares Subject to Outstanding Options, Options exercised | shares	(3,674,057)
Shares Subject to Outstanding Options, Options outstanding, Ending Balance | shares	12,778,984
Shares Subject to Outstanding Options, Options vested and exercisable | shares	7,281,600
Weighted Average Exercise Price per Share, Options outstanding, Beginning Balance | $ / shares	$ 12.82
Weighted Average Exercise Price per Share, Options granted | $ / shares	39.39
Weighted Average Exercise Price per Share, Options forfeited or cancelled | $ / shares	25.90
Weighted Average Exercise Price per Share, Options expired | $ / shares	26.56
Weighted Average Exercise Price per Share, Options exercised | $ / shares	7.21
Weighted Average Exercise Price per Share, Options outstanding, Ending Balance | $ / shares	19.72
Weighted Average Exercise Price per Share, Options vested and exercisable | $ / shares	$ 10.99
Aggregate Intrinsic Value, Option outstanding | $	$ 156,105
Aggregate Intrinsic Value, Options vested and exercisable | $	$ 132,537