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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended
Feb. 06, 2019
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding awarded (in shares)   12,789,376   9,434,660
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation costs   $ 10.1    
Weighted-average period of cost expects to recognize (in years)   10 months 24 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   $ 1.5 $ 0.7  
Weighted-average grant date fair value (in dollars per share)   $ 8.27 $ 6.85  
Aggregate fair value of stock options vested during period   $ 26.1 $ 17.3  
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 1 month 6 days    
Unrecognized compensation expense   $ 46.1    
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)   5,189,165    
Shares outstanding awarded (in shares)   11,810,964   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)   2,450,855    
Number of share issued under ESPP   157,858    
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)   10 months 24 days    
Unrecognized compensation expense   $ 1.6    
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)   2,614,198   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