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Equity Incentive Plans - Summary of Activity for Service-based Stock Options (Details) - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Aggregate Intrinsic Value $ 22,512,000 $ 6,697,000 $ 887,000  
Service Based Stock Options | 2019 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of Options and Unvested Shares, beginning balance 4,790,327 2,393,934 1,885,504  
Number of Options and Unvested Shares, granted 1,436,116 2,798,645 932,639  
Number of Options and Unvested Shares, exercised (531,190) (173,809) (194,279)  
Number of Options and Unvested Shares, Options cancelled / forfeited (123,960) (228,443) (229,930)  
Number of Options and Unvested Shares, ending balance 5,571,293 4,790,327 2,393,934 1,885,504
Number of Options and Unvested Shares, vested and expected to vest 5,571,293      
Number of Options and Unvested Shares, exercisable 2,232,953      
Weighted Average Exercise Price, beginning balance $ 25.47 $ 5.35 $ 1.57  
Weighted Average Exercise Price, granted 35.20 42.95 15.87  
Weighted Average Exercise Price, exercised 12.82 7.38 0.51  
Weighted Average Exercise Price, cancelled/forfeited 47.09 42.56 21.09  
Weighted Average Exercise Price, ending balance 28.70 $ 25.47 $ 5.35 $ 1.57
Weighted Average Exercise Price, vested and expected to vest 28.70      
Weighted Average Exercise Price, exercisable $ 19.91      
Weighted Average Remaining Contractual Life 8 years 3 months 3 days 8 years 8 months 8 days 8 years 7 months 13 days 9 years 25 days
Weighted Average Remaining Contractual Life, vested and expected to vest 8 years 3 months 3 days      
Weighted Average Remaining Contractual Life, exercisable 7 years 3 months 14 days      
Aggregate Intrinsic Value $ 15,687,000 $ 49,723,000 $ 121,593,000 $ 1,253,000
Aggregate Intrinsic Value, vested and expected to vest 15,687,000      
Aggregate Intrinsic Value, exercisable $ 11,984,000