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Share-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jun. 30, 2019
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Option granted to purchase shares   3,459,500 1,311,897
Weighted average grant date fair value per share of stock options granted   $ 10.32 $ 34.07
Aggregate grant date fair value of stock options granted   $ 35,700 $ 44,700
Aggregate intrinsic value of stock options exercised   3,500 9,900
Stock based compensation expense   22,854 16,450
Unrecognized compensation cost   $ 53,300  
Expected weighted average period   2 years 9 months 18 days  
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options vest period   4 years  
Member of Board of Directors | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options vest period   3 years  
Member of Board of Directors | Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options vest period   1 year  
2019 Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance 2,200,000    
Percentage of increase in reserved common shares 4.00%    
Number of common shares available for future issuance   992,231  
2014 Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of common shares available for future issuance   0  
2019 ESPP      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance 315,000    
Number of common shares available for future issuance   959,603  
Weighted average grant date fair value per share of stock options granted   $ 18.39  
Stock based compensation expense   $ 300 $ 300
2019 ESPP | Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance 3,150,000    
Percentage of increase in reserved common shares 1.00%