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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