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Stockholders' Equity - Additional Information (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Feb. 28, 2022 | Feb. 28, 2021 | Oct. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Share base compensation expense |  |  |  |  | $ 2,586,000 | $ 2,417,000 | $ 5,098,000 | $ 4,210,000
Service-based RSUs | Employee |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Share base compensation expense |  |  |  |  | 200,000 | 100,000 | 400,000 | 200,000
Vesting period | 3 years | 3 years |  |  |  |  |  |
Performance RSUs | Executive Officer and Certain Employees |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Share base compensation expense |  |  |  |  | $ 400,000 | $ 200,000 | $ 700,000 | $ 300,000
Vesting period |  | 1 year |  |  |  |  |  |
ESPP Purchase |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Number of common shares issuable under the plan (in shares) |  |  | 225,188 |  |  |  |  |
Percentage of increase in number of shares of capital stock issued and outstanding |  |  | 1.00% |  |  |  |  |
Percent of purchase shares of common stock |  |  | 85.00% |  |  |  |  |
Number of shares of common stock available for issuance under ESPP |  |  |  |  | 731,603 |  | 731,603 |
2019 Plan |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Number of common shares issuable under the plan (in shares) |  |  |  | 2,844,193 |  |  |  |
Percentage of increase in number of shares of capital stock issued and outstanding |  |  |  | 4.00% |  |  |  |
Common stock reserved and available for issuance as future option grants |  |  |  |  | 953,596 |  | 953,596 |
Maximum | ESPP Purchase |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Period for increase in number of shares of common stock reserved for issuance |  |  | 10 years |  |  |  |  |
Maximum | 2019 Plan |  |  |  |  |  |  |  |
Stockholders' Equity [Line Items] |  |  |  |  |  |  |  |
Period for increase in number of shares of common stock reserved for issuance |  |  |  | 10 years |  |  |  |

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