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Stock-based Compensation - Summary of Options to Purchase Common Stock (Details) - 2019 Equity Incentive Plan - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Options, Outstanding, beginning balance 11,644,070
Number of Options, Granted 3,069,504
Number of Options, Exercised (238,361)
Number of Options, Forfeited (735,800)
Number of Options, Outstanding, ending balance 13,739,413
Number of Options, Exercisable 5,920,555
Number of Options, Vested and expected to vest 13,739,413
Weighted average exercise price, Outstanding, beginning balance $ 16.41
Weighted average exercise price, Granted 13.56
Weighted average exercise price, Exercised 10.59
Weighted average exercise price, Forfeited 18.86
Weighted average exercise price, Outstanding, ending balance 15.74
Weighted average exercise price, Exercisable 15.07
Weighted average exercise price, Vested and expected to vest $ 15.74
Weighted Average Remaining Contractual Term, Outstanding (in years) 8 years 2 months 12 days
Weighted Average Remaining Contractual Term, Exercisable (In years) 7 years 3 months 18 days
Weighted Average Remaining Contractual Term, Vested and expected to vest (In years) 8 years 2 months 12 days
Aggregate Intrinsic Value, Outstanding $ 3,814
Aggregate Intrinsic Value, Exercisable 2,258
Aggregate Intrinsic Value, Vested or expected to vest $ 3,814