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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
3 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Options, Outstanding, beginning balance 12,654,998  
Number of Options, Granted 521,748  
Number of Options, Exercised (415,386)  
Number of Options, Forfeited (126,927)  
Number of Options, Outstanding, ending balance 12,634,433  
Number of Options, Exercisable 3,893,199  
Number of Options, Vested and expected to vest 12,634,433  
Weighted average exercise price, Outstanding, beginning balance $ 13.96  
Weighted average exercise price, Granted 16.02  
Weighted average exercise price, Exercised 9.33  
Weighted average exercise price, Forfeited 16.03  
Weighted average exercise price, Outstanding, ending balance 14.18  
Weighted average exercise price, Exercisable 13.27  
Weighted average exercise price, Vested and expected to vest $ 14.18  
Weighted Average Remaining Contractual Term, Outstanding (in years) 8 years 7 months 6 days  
Weighted Average Remaining Contractual Term, Exercisable (In years) 8 years  
Weighted Average Remaining Contractual Term, Vested and expected to vest (In years) 8 years 7 months 6 days  
Aggregate Intrinsic Value, Outstanding $ 84,326
Aggregate Intrinsic Value, Exercisable 28,021  
Aggregate Intrinsic Value, Vested or expected to vest $ 84,326