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Equity Incentive Plans - Additional Information (Details) - USD ($)
3 Months Ended
Feb. 06, 2019
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding awarded (in shares)   13,321,692   9,434,660
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation costs   $ 18,000,000    
Weighted-average period of cost expects to recognize (in years)   1 year 3 months 18 days    
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected dividend yield (as a percent)   0.00%    
Weighted-average grant date fair value (in dollars per share)   $ 8.53 $ 6.97  
Aggregate fair value of stock options vested during period   $ 10,400,000 $ 7,300,000  
Aggregate intrinsic value, options vested in period   $ 200,000 $ 0  
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   $ 61,100,000    
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)   4,747,720    
Shares outstanding awarded (in shares)   12,349,459   8,402,621
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)   2,531,217    
Number of share issued under ESPP   77,496    
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 3 months 18 days    
Unrecognized compensation expense related to the ESPP   $ 2,100,000    
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)   2,818,333   2,875,330
2017 Equity Incentive Plan | Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock awards granted (in shares)   0