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Stockholders' Equity - Shares Reserved For Future Issuance (Details) - shares
shares in Thousands
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock options outstanding (in shares) 6,648 6,801
Shares available for future issuance (in shares) 19,885  
ESPP    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future issuance (in shares) 3,589  
2019 Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future grant under 2019 Plan (in shares) 6,846  
2017 Nonqualified Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future grant under 2019 Plan (in shares) 2,800  
2017 Nonqualified Employee Stock Purchase Plan | ESPP    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Shares available for future issuance (in shares) 2,802