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Equity Incentive Plans - Additional Information (Details) - USD ($)
6 Months Ended
Feb. 06, 2019
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding awarded (in shares)   13,183,909   9,434,660
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation costs   $ 14,100,000    
Weighted-average period of cost expects to recognize (in years)   1 year 1 month 6 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)   $ 8.30 $ 6.87  
Aggregate fair value of stock options vested during period   $ 18,400,000 $ 13,300,000  
Aggregate intrinsic value, options vested in period   $ 300,000 $ 700,000  
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 3 months 18 days    
Unrecognized compensation expense related to the ESPP   $ 53,700,000    
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)   4,959,662    
Shares outstanding awarded (in shares)   12,090,161   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    
Unrecognized compensation expense related to the ESPP   $ 1,700,000    
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)   2,794,077   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