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Equity Incentive Plans - Stock Option Repricing (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Jun. 13, 2022
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense, vested   $ 3,884 $ 3,853 $ 13,708 $ 12,135  
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 6,823,018   6,823,018   7,162,676
Exercise price, lower range limit $ 9.87          
Exercise price, upper range limit $ 22.10          
Incremental stock based compensation expense $ 2,500          
Stock-based compensation expense, vested   $ 200   $ 1,700    
Stock-based compensation expense, unvested $ 800          
Remaining weighted-average vesting period 1 year 2 months 12 days