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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Feb. 06, 2019
Jun. 30, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares outstanding awarded   9,863,703 8,538,060
Aggregate Intrinsic Value, Options vested and exercisable   $ 9,989  
Stock Options      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected dividend yield   0.00%  
Aggregate Intrinsic Value, Options vested and exercisable   $ 400  
Weighted-average grant date fair value per share   $ 10.21  
Aggregate fair value of stock options vested during period   $ 17,900  
Restricted Stock      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Unrecognized compensation costs   $ 22,800  
Weighted-average period of cost expects to recognize   2 years 4 months 24 days  
Stock-Based Compensation Expense      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average period of cost expects to recognize   2 years 7 months 6 days  
Unrecognized compensation expense related to the ESPP.   $ 63,400  
2019 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of share reserved for future issuance 5,750,000    
Term of awards 10 years    
Percentage of amount increase in outstanding shares 5.00%    
Common stock available for issuance   2,164,523  
Shares outstanding awarded   6,853,154  
2019 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of share reserved for future issuance 700,000    
Term of awards 10 years    
Percentage of amount increase in outstanding shares 1.00%    
Number of share issued under ESPP   49,889  
Number of share reserved for future issuance   1,312,951  
2019 Employee Stock Purchase Plan | Stock-Based Compensation Expense      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Weighted-average period of cost expects to recognize   1 year 1 month 6 days  
Unrecognized compensation expense related to the ESPP.   $ 1,700  
2019 Employee Stock Purchase Plan | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Purchase of common stock through payroll deductions, percentage 20.00%    
2017 Equity Incentive Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Shares outstanding awarded   4,135,841  
2017 Equity Incentive Plan | Restricted Stock      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock awards granted   415,293