Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands |
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1 Months Ended |
3 Months Ended |
12 Months Ended |
61 Months Ended |
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Nov. 09, 2023 |
Jul. 14, 2023 |
May 23, 2023 |
Nov. 10, 2020 |
Oct. 31, 2019 |
Mar. 31, 2019 |
Mar. 31, 2024 |
Mar. 31, 2023 |
Dec. 31, 2023 |
Dec. 31, 2019 |
Mar. 31, 2024 |
Jan. 01, 2024 |
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Preferred stock, shares authorized |
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40,000,000
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40,000,000
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40,000,000
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| Preferred stock, shares issued |
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0
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0
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0
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| Preferred stock, shares outstanding |
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0
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0
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0
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| Stock options, granted |
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1,868,400
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| Stock-based compensation cost |
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$ 5,626
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$ 7,048
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| Common stock initially reserved for issuance |
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12,396,758
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12,396,758
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| Unrecognized stock-based compensation expense |
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$ 20,200
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$ 20,200
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| Unrecognized stock-based compensation expense, weighted-average period for recognition |
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2 years 9 months 18 days
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| Defined contribution plan employer contribution liabilities expense |
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$ 1,700
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$ 800
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| Defined contribution plan, employer matching contribution, percentage |
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75.00%
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| Employer discretionary match number of shares settled |
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93,736
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52,130
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| Stock Options |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Dividend yield |
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0.00%
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0.00%
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| Restricted Stock Units (RSUs) |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Total fair value of vested |
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$ 3,500
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| Unrecognized stock-based compensation expense |
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$ 27,500
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$ 27,500
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| Unrecognized stock-based compensation expense, weighted-average period for recognition |
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2 years 3 months 18 days
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| 2019 Equity Incentive Plan |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Common stock, shares authorized for issuance |
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2,231,739
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| Stock options, granted |
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1,400,528
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| Number of shares available for issuance |
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0
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| 2019 Equity Incentive Plan | Restricted Stock |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Stock awards, granted |
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16,260
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| 2019 Incentive Award Plan |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Stock options, granted |
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1,203,341
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| Number of shares available for issuance |
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2,406,622
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| Annual increase to shares available for issuance percentage of outstanding common stock |
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5.00%
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| Equity plan, description |
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The number of shares initially available for issuance will be increased by (i) the number of shares subject to stock options or similar awards granted under the Existing Incentive Plan that expire or otherwise terminate without having been exercised in full after the effective date of the 2019 Plan and unvested shares issued pursuant to awards granted under the Existing Incentive Plan that are forfeited to or repurchased by the Company after the effective date of the 2019 Plan, with the maximum number of shares to be added to the 2019 Plan pursuant to clause (i) above or equal to 1,416,788 shares, and (ii) an annual increase on January 1 of each calendar year beginning in 2020 and ending in 2029, equal to the lesser of (a) 5% of the shares of common stock outstanding on the final day of the immediately preceding calendar year and (b) such smaller number of shares as determined by the Board of Directors.
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| Number of shares remain available for issuance, annual increase |
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2,898,503
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2,898,503
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| Common stock initially reserved for issuance |
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1,708,426
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1,708,426
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| Share-based compensation incremental expense |
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$ 2,200
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| 2019 Incentive Award Plan | Performance-Based Stock Units (PSU) |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| PSUs outstanding |
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0
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0
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| 2019 Incentive Award Plan | Stock Options and RSUs |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Number of shares, granted |
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2,595,112
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| Number of shares, cancelled or forfeited |
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294,659
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| 2019 Incentive Award Plan | Restricted Stock Units (RSUs) |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| PSUs outstanding |
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2,905,069
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2,653,892
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2,905,069
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| Stock awards, granted |
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726,712
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| Employee Stock Purchase Plan |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Number of shares available for issuance |
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1,433,220
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1,433,220
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| Annual increase to shares available for issuance percentage of outstanding common stock |
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1.00%
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| Equity plan, description |
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In addition, the number of shares available for issuance under the ESPP will be annually increased on January 1 of each calendar year beginning in 2020 and ending in 2029, by an amount equal to the lesser of: (i) 1% of the shares outstanding on the final day of the immediately preceding calendar year and (ii) such smaller number of shares as is determined by the Board of Directors. As of March 31, 2024, 1,433,220 shares of common stock remain available for issuance, which includes the 119,779 shares sold to employees during the three months ended March 31, 2024 as well as an annual increase of 579,701 shares authorized on January 1, 2024.
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| Number of shares remain available for issuance, annual increase |
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579,701
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| Stock-based compensation cost |
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$ 500
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$ 100
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| Common stock initially reserved for issuance |
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270,000
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1,433,220
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1,433,220
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| Number of shares issued |
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119,779
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| Estimated weighted-average fair value |
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$ 3.59
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$ 2.87
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| Unrecognized stock-based compensation expense |
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$ 700
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$ 700
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| Unrecognized stock-based compensation expense, weighted-average period for recognition |
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3 months 18 days
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| Dividend yield |
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0.00%
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0.00%
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| Underwritten Public Offering |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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12,793,750
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| Common stock, price per share |
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$ 11.75
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| Proceeds from issuance initial public offering gross |
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$ 150,300
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| Purchase price per share after deducting underwriting discounts and commissions |
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$ 11.08
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| Net proceeds after deducting underwriters commission |
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$ 141,800
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| Purchase of additional offering expenses |
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$ 400
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| At-the-Market Offering Program |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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1,514,219
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| Proceeds from issuance of shares |
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$ 0
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$ 14,072
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$ 14,100
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| Stock issuance costs |
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$ 400
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| 2020 At-the-Market Offering Program |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Amount utilized of equity financing |
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39,900
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| Available equity financing amount |
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125,000
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| 2023 At-the-Market Offering Program |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Available equity financing amount |
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$ 150,000
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| Employee and Nonemployee Director |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Estimated weighted-average fair value |
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$ 5.31
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$ 5.13
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| Open Market Sale Agreement with Jefferies LLC | 2020 At-the-Market Offering Program | Maximum |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Aggregate offering price through equity financing |
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$ 125,000
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| Open Market Sale Agreement with Jefferies LLC | 2023 At-the-Market Offering Program | Maximum |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Aggregate offering price through equity financing |
$ 150,000
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| Common Stock |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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26,041,380
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| Number of shares authorized to repurchase |
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3,373,408
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| Stock repurchase program, number of shares right lapse |
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843,352
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| Remaining number of shares to be repurchased |
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2,530,056
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| Stock repurchase program, period in force |
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48 months
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| Stock repurchase program expiration period |
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2023-03
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| Proceeds from issuance of shares |
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$ 421,500
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| Employer discretionary match number of shares settled |
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|
93,736
|
52,130
|
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|
| Common Stock | 2019 Incentive Award Plan |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Additional number of shares available for issuance |
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1,416,788
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| Common Stock | Employee Stock Purchase Plan |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Maximum percentage of eligible compensation contributed by participants |
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20.00%
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| Common Stock | IPO and ATM |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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26,041,380
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| Proceeds from issuance of shares |
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|
$ 421,500
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| Common Stock | Underwritten Public Offering |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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1,668,750
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| Common Stock | At-the-Market Offering Program |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Shares issued |
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1,514,219
|
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| Common Stock | Founders |
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| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
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| Remaining number of shares to be repurchased |
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0
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0
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