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Equity Incentive Plans - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Apr. 30, 2023
Jun. 30, 2019
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Option granted to purchase shares     729,300      
Unrecognized compensation cost     $ 35,100   $ 35,100  
Weighted average period of unrecognized compensation cost expected to be recognized         3 years  
Stock based compensation expense     $ 7,494 $ 6,552 $ 20,331 $ 19,199
Employee Stock Option            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting period     4 years      
Restricted Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Restricted stock units granted     0      
Unrecognized compensation cost     $ 24,900   $ 24,900  
Weighted average period of unrecognized compensation cost expected to be recognized         2 years 2 months 12 days  
Performance Stock Units            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Restricted stock units granted     0      
Unrecognized compensation cost     $ 3,300   $ 3,300  
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     1,915,244   1,915,244  
2014 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of common shares available for future issuance     0   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     1,631,069   1,631,069  
Average grant date fair value per share under the plan         $ 9.87  
Stock based compensation expense     $ 100 $ 100 $ 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%        
2023 Inducement Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of common shares available for future issuance     19,100   19,100  
2023 Inducement Plan | Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Option granted to purchase shares 1,000,000