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Stockholders' Equity - Additional Information (Details)				1 Months Ended												3 Months Ended				4 Months Ended	6 Months Ended		12 Months Ended		66 Months Ended
	May 23, 2023 USD ($) $ / shares shares	Dec. 16, 2020 USD ($) $ / shares shares	Oct. 29, 2019 USD ($) $ / shares shares	Jul. 31, 2023 shares	Feb. 28, 2023 USD ($) shares	Jan. 31, 2023 shares	Sep. 30, 2022 USD ($) shares	Jul. 31, 2022 shares	Jan. 31, 2022 shares	Aug. 31, 2021 shares	Nov. 30, 2020	Nov. 30, 2019 $ / shares shares	Oct. 31, 2019 shares	May 31, 2019 shares	Mar. 31, 2019 shares	Jun. 30, 2023 USD ($) shares	Mar. 31, 2023 USD ($) shares	Jun. 30, 2022 USD ($)	Mar. 31, 2022 shares	May 06, 2019 USD ($) shares	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2022 USD ($) $ / shares	Dec. 31, 2022 shares	Dec. 31, 2019 shares	Jun. 30, 2023 USD ($) shares	Jan. 01, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred stock, shares authorized																40,000,000					40,000,000		40,000,000		40,000,000
Preferred stock, shares issued																0					0		0		0
Preferred stock, shares outstanding																0					0		0		0
Stock options, granted																					1,148,660
Stock-based compensation cost | $																$ 7,253,000		$ 5,885,000			$ 14,301,000	$ 11,660,000
Unrecognized stock-based compensation expense | $																$ 10,300,000					$ 10,300,000				$ 10,300,000
Common stock reserved for issuance																10,626,008					10,626,008				10,626,008
Unrecognized stock-based compensation expense | $																$ 33,200,000					$ 33,200,000				$ 33,200,000
Unrecognized stock-based compensation expense, weighted-average period for recognition																					1 year 10 months 24 days
Defined contribution plan employer contribution liabilities expense | $																$ 400,000		300,000			$ 1,200,000	$ 900,000
Defined contribution plan, employer matching contribution, percentage																					75.00%
Employer discretionary match number of shares settled						52,130		84,784	16,756	18,394
Dividend yield																					0.00%	0.00%
Subsequent Event
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Employer discretionary match number of shares settled				83,826
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield																					0.00%
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense, weighted-average period for recognition																					2 years 1 month 6 days
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares authorized for issuance																								2,231,739
Stock options, granted																								1,400,528
Number of shares available for issuance													0
2019 Equity Incentive Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted																								16,260
2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Annual increase to shares available for issuance percentage of outstanding common stock													5.00%
Equity plan, description																					The number of shares initially available for issuance will be increased by (i) the number of shares subject to stock options or similar awards granted under the Existing Incentive Plan that expire or otherwise terminate without having been exercised in full after the effective date of the 2019 Plan and unvested shares issued pursuant to awards granted under the Existing Incentive Plan that are forfeited to or repurchased by the Company after the effective date of the 2019 Plan, with the maximum number of shares to be added to the 2019 Plan pursuant to clause (i) above equal to 1,416,788 shares, and (ii) an annual increase on January 1 of each calendar year beginning in 2020 and ending in 2029, equal to the lesser of (a) 5% of the shares of common stock outstanding on the final day of the immediately preceding calendar year and (b) such smaller number of shares as determined by the board of directors. As of June 30, 2023, 520,803 shares remain available for issuance, which reflects 2,559,070 of stock option, performance-based unit, or PSU, and restricted stock unit, or RSU, awards granted, and 35,823 of awards cancelled or forfeited, during the six months ended June 30, 2023 as well as an annual increase of 2,086,165 shares authorized on January 1, 2023.
Number of shares remain available for issuance, annual increase																2,086,165					2,086,165				2,086,165
Common stock reserved for issuance																520,803					520,803				520,803
2019 Incentive Award Plan | Performance-Based Stock Units (PSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted																					597,650		37,500
Stock-based compensation cost | $																					$ 0
Unrecognized stock-based compensation expense | $																$ 19,300,000					$ 19,300,000				$ 19,300,000
2019 Incentive Award Plan | Stock options, PSUs and RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of awards, granted																					2,559,070
Number of awards, cancelled or forfeited																					35,823
2019 Incentive Award Plan | Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted																					812,760
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance																1,048,370					1,048,370				1,048,370
Annual increase to shares available for issuance percentage of outstanding common stock													1.00%
Equity plan, description																					In addition, the number of shares available for issuance under the ESPP will be annually increased on January 1 of each calendar year beginning in 2020 and ending in 2029, by an amount equal to the lesser of: (i) 1% of the shares outstanding on the final day of the immediately preceding calendar year and (ii) such smaller number of shares as is determined by the board of directors. As of June 30, 2023, 1,048,370 shares of common stock remain available for issuance, which includes the 121,801 shares sold to employees during the six months ended June 30, 2023 as well as an annual increase of 417,233 shares authorized on January 1, 2023.
Number of shares remain available for issuance, annual increase																										417,233
Stock-based compensation cost | $																$ 200,000		$ 100,000			$ 300,000	$ 100,000
Common stock reserved for issuance													270,000			1,048,370					1,048,370				1,048,370
Number of shares issued																					121,801
Estimated weighted-average fair value | $ / shares																					$ 2.87	$ 5.31
Unrecognized stock-based compensation expense | $																$ 100,000					$ 100,000				$ 100,000
Unrecognized stock-based compensation expense, weighted-average period for recognition																					1 month 6 days
Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued	12,793,750	2,250,000
Stock Issued During Period, Value, New Issues | $																$ 141,390,000
Common stock, price per share | $ / shares	$ 11.75	$ 42.00
Proceeds from issuance initial public offering gross | $	$ 150,300	$ 94,500,000
Purchase price per share after deducting underwriting discounts and commissions | $ / shares	$ 11.08	$ 39.48
Net proceeds after deducting underwriters commission | $	$ 141,800	$ 88,800,000
Purchase of additional offering expenses | $	$ 400	$ 200,000
At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued					1,514,219		2,414,897																		3,929,116
Stock Issued During Period, Value, New Issues | $																	$ 14,073,000
Proceeds from issuance of shares | $					$ 14,100,000		$ 24,600,000														$ 14,073,000				$ 38,700,000
Stock issuance costs | $					$ 400,000		$ 800,000
Amount utilized of equity financing | $																					39,900,000
Available equity financing amount | $																					$ 125,000,000
Employee and Nonemployee Director
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated weighted-average fair value | $ / shares																					$ 5.31
Open Market Sale Agreement with Jefferies LLC | At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sales commission payable as a percentage of sale of gross sales price per share											3.00%
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued																				2,524,852
Number of shares authorized to repurchase															3,373,408
Stock repurchase program, number of shares right lapse															843,352
Remaining number of shares to be repurchased															2,530,056
Stock repurchase program, period in force															48 months
Stock repurchase program expiration period															2023-03
Proceeds from issuance of shares | $																				$ 1,000
Repurchase right lapse each month after first anniversary, shares																				0.000208
Repurchases of shares												17,560
Shares aggregate repurchase price | $ / shares												$ 5.20
Employer discretionary match number of shares settled																	52,130		16,756
Common Stock | 2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Additional number of shares available for issuance													1,416,788
Common Stock | Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum percentage of eligible compensation contributed by participants													20.00%
Common Stock | IPO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued			10,997,630
Common stock, price per share | $ / shares			$ 19.00
Proceeds from Initial Public Offering (IPO) | $			$ 191,500,000
Common Stock | Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued	1,668,750		1,434,473													12,793,750
Stock Issued During Period, Value, New Issues | $																$ 1,000
Common Stock | At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued																	1,514,219
Stock Issued During Period, Value, New Issues | $																	$ 1,000
Common Stock | Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining number of shares to be repurchased																0					0				0
Common Stock | First Anniversary
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Initial repurchase right lapse rate																				25.00%
Common Stock | Takeda License
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued														1,084,000
Common Stock | Founders
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining number of shares to be repurchased																0					0				0
Common Stock | Frazier
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued															1,491,072

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-URI https://asc.fasb.org//1943274/2147480008/505-10-S99-1

Reference 7: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 210
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02(29))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

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