Shareholders' Equity - Summary of Reserved Shares of Common Stock (Details)	Mar. 31, 2022 shares
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	38,305,003
Shares Issuable Upon the Exercise of Outstanding Stock Options Granted
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	15,015,928
Shares Issuable Upon the Vesting of Outstanding Restricted Stock Units and the Maximum Outstanding Market-based Restricted Stock Units Granted
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	5,984,738
Common Stock Options Granted | 2019 Equity Incentive Plan
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	14,500,039
Common Stock Options Granted | Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total shares of common stock reserved for future issuance	2,804,298