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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
6 Months Ended
Feb. 06, 2019
Jun. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares outstanding awarded (in shares)   10,435,930 9,401,082
Restricted Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation costs   $ 22.2  
Weighted-average period of cost expects to recognize (in years)   1 year 7 months 6 days  
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected dividend yield (as a percent)   0.00%  
Aggregate intrinsic value, options vested in period   $ 0.7  
Weighted-average grant date fair value (in dollars per share)   $ 6.87  
Aggregate fair value of stock options vested during period   $ 13.3  
Stock-Based Compensation Expense      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted-average period of cost expects to recognize (in years)   2 years 6 months  
Unrecognized compensation expense related to the ESPP   $ 43.8  
2019 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares reserved for future issuance (in shares) 5,750,000    
Term of awards (in years) 10 years    
Percentage of amount increase in outstanding shares 5.00%    
Common stock available for issuance (in shares)   2,538,824  
Shares outstanding awarded (in shares)   9,197,388  
2019 Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares reserved for future issuance (in shares) 700,000    
Term of awards (in years) 10 years    
Percentage of amount increase in outstanding shares 1.00%    
Common stock available for issuance (in shares)   1,909,793  
Number of share issued under ESPP   95,004  
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 (in years)   1 year 1 month 6 days  
Unrecognized compensation expense related to the ESPP   $ 1.8  
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 (in shares)   3,471,076  
2017 Equity Incentive Plan | Restricted Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock awards granted (in shares)   104,014