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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Feb. 24, 2024 | May 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock, initially reserved for issuance | 11,416,291 | 6,668,705 |  |  | 195,000
Shares issues under ESPP | 2,500,000 |  |  |  |
Stock-based compensation expense | $ 18,489 | $ 11,629 | $ 8,237 |  |
Weighted-average grant-date fair value of options granted | $ 13.98 | $ 10.10 |  |  |
Aggregate intrinsic value of options exercised | $ 16,900 | $ 1,800 |  |  |
Total unrecognized stock-based compensation expense for stock options | $ 41,100 | $ 28,000 |  |  |
Total unrecognized stock-based compensation expense, weighted-average period of recognition | 2 years 7 months 2 days | 2 years 7 months 24 days |  |  |
Estimated dividend yield | 0.00% | 0.00% | 0.00% |  |
2019 Equity Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Term of options | 10 years |  |  |  |
Incentive award plan description | Options granted under the 2019 Plan have a term of 10 years (or five years if granted to a 10% stockholder) and generally vest over a 4-year period with 1-year cliff vesting. |  |  |  |
Vesting period of options | 4 years |  |  |  |
Common stock, initially reserved for issuance | 964,622 |  |  |  |
2019 Equity Incentive Plan | Cliff Vesting |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period of options | 1 year |  |  |  |
2019 Equity Incentive Plan | 10% Stockholder |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Term of options | 5 years |  |  |  |
2019 Equity Incentive Plan | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Shares outstanding under ESPP | 4.00% |  |  |  |
2019 Employee Stock Purchase Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock, initially reserved for issuance | 1,317,974 |  |  |  |
Stock-based compensation expense | $ 600 | $ 400 |  |  |
Maximum offering period under ESPP | 27 months |  |  |  |
Maximum eligible rate of compensation | 15.00% |  |  |  |
2019 Employee Stock Purchase Plan | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Percentage of the fair value of common stock | 85.00% |  |  |  |
Maximum number of shares purchasable | 4,000 |  |  |  |
Shares outstanding under ESPP | 1.00% |  |  |  |
2023 Inducement Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Term of options | 10 years |  |  |  |
Vesting period of options | 4 years |  |  |  |
Common stock, initially reserved for issuance | 524,300 |  |  | 1,000,000 |
2023 Inducement Plan | Cliff Vesting |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Vesting period of options | 1 year |  |  |  |

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