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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
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding, beginning balance 11,644,070 12,654,998
Number of Options, Granted 4,996,366 3,264,059
Number of Options, Exercised (298,239) (2,395,223)
Number of Options, Forfeited (2,628,925) (1,879,764)
Number of Options, Outstanding, ending balance 13,713,272 11,644,070
Number of Options, Exercisable 6,776,201  
Number of Options, Vested and expected to vest 13,713,272  
Weighted average exercise price, Outstanding, beginning balance $ 16.41 $ 13.96
Weighted average exercise price, Granted 12.11 21.53
Weighted average exercise price, Exercised 10.26 11.91
Weighted average exercise price, Forfeited 18.28 14.55
Weighted average exercise price, Outstanding, ending balance 14.62 $ 16.41
Weighted average exercise price, Exercisable 14.75  
Weighted average exercise price, Vested and expected to vest $ 14.62  
Weighted Average Remaining Contractual Term, Outstanding 8 years  
Weighted Average Remaining Contractual Term, Exercisable (In years) 7 years  
Weighted Average Remaining Contractual Term, Vested and expected to vest (In years) 8 years  
Aggregate Intrinsic Value, Outstanding $ 1,583  
Aggregate Intrinsic Value, Exercisable 1,276  
Aggregate Intrinsic Value, Vested or expected to vest $ 1,583