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Stock-Based Compensation Plans - Summary of Stock Option Activity (Details) - 2019 Omnibus Equity Incentive Plan - Outstanding stock options - USD ($)
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Options    
Outstanding, beginning balance (in shares) 3,791,688 2,157,460
Granted (in shares) 2,740,564 1,837,513
Exercised (in shares) 0 (852)
Forfeited or expired (in shares) (268,342) (194,548)
Outstanding, ending balance (in shares) 6,263,910 3,799,573
Options vested and expected to vest, ending balance (in shares) 6,263,910 3,799,573
Options exercisable, ending balance (in shares) 2,393,294 1,248,875
Weighted- Average Exercise Price    
Outstanding, beginning balance (usd per share) $ 11.33 $ 13.54
Granted (usd per share) 1.71 8.90
Exercised (usd per share) 0 5.67
Forfeited or expired (usd per share) 7.80 11.62
Outstanding, ending balance (usd per share) 7.27 11.40
Options vested and expected to vest, weighted-average exercise price, ending balance (usd per share) 7.27 11.40
Options exercisable, weighted-average exercise price, ending balance (usd per share) $ 11.67 $ 13.63
Other Disclosures    
Outstanding, Weighted-Average Remaining Contractual Term, Ending balance 8 years 3 months 7 days 8 years 7 months 2 days
Options vested and expected to vest , Weighted-Average Remaining Contractual Term, Ending balance 8 years 3 months 7 days 8 years 7 months 2 days
Options exercisable, Weighted-Average Remaining Contractual Term, Ending balance 7 years 1 month 13 days 7 years 7 months 20 days
Outstanding, Aggregate Intrinsic Value, Ending balance $ 119,691 $ 2,400
Options vested and expected to vest , Aggregate Intrinsic Value, Ending balance 119,691 2,400
Options exercisable, Aggregate Intrinsic Value, Ending balance $ 6,160 $ 0