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Equity Incentive Plans - Stock Option Repricing (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 13, 2022
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense, vested   $ 5,487 $ 3,882 $ 9,824 $ 8,282  
2019 Plan and Company's 2010 Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise price $ 9.00          
Modified exercise price $ 1.845          
Number of Stock options outstanding 3,606,163 7,128,365   7,128,365   7,162,676
Exercise price, lower range limit $ 9.87          
Exercise price, upper range limit $ 22.10          
Incremental stock based compensation expense $ 2,600          
Stock-based compensation expense, vested 1,600          
Stock-based compensation expense, unvested $ 1,000          
Remaining weighted-average vesting period 1 year 6 months