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Equity Incentive Plans - Summary of Activity Under Stock Option Plans (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Jun. 30, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]  
Options Outstanding, Beginning balance 3,127
Options Outstanding, Granted 1,019
Options Outstanding, Exercised (84)
Options Outstanding, Forfeited and expired (73)
Options Outstanding, Ending balance 3,989
Options Exercisable, Ending balance 1,628
Weighted-Average Exercise Price, Beginning balance $ 11.52
Weighted-Average Exercise Price, Granted 21.58
Weighted Average Exercise Price, Exercised 1.52
Weighted Average Exercise Price, Forfeited and expired 20.81
Weighted-Average Exercise Price, Ending balance 14.13
Weighted-Average Exercise Price, Exercisable $ 9.55
Weighted-Average Remaining Term, Ending balance 8 years 4 months 24 days
Weighted-Average Remaining Term, Exercisable 7 years 8 months 12 days
Aggregate Intrinsic Value, Ending balance $ 24,208
Aggregate Intrinsic Value, Exercisable $ 15,549