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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Vesting rate at the end of one year | 25.00% |  |
Vesting rights description | Options granted to new hires generally vest over a four-year period, with 25% vesting at the end of one year and the remaining vesting monthly thereafter. Options granted as merit awards generally vest monthly over a three- or four-year period |  |
Closing price of common stock | $ 2.1 |  |
Weighted-average grant date fair value of options granted | $ 1.81 | $ 3.21 | $ 13.14
Unrecognized stock-based compensation of unvested options | $ 7.2 |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period | 2 years 7 days |  |
Options Granted as Merit Awards | Tranche One |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Vesting period | 3 years |  |
Options Granted as Merit Awards | Tranche Two |  |  |
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] |  |  |
Vesting period | 4 years |  |
Closing price of common stock | $ 2.1 |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period | 1 year 10 months 13 days |  |
Unrecognized stock-based compensation cost of unvested RSUs | $ 9.5 |  |
Maximum | Restricted Stock Units | Tranche Two |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Minimum | Restricted Stock Units | Tranche Two |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Vesting period | 3 years |  |
2011 Plan | Maximum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options granted in years | 10 years |  |
2019 Plan | Maximum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options granted in years | 10 years |  |
2019 Plan | Minimum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Percentage of exercise price options granted | 100.00% |  |
2019 Employee Stock Purchase Plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Percentage of purchase price of common stock | 85.00% |  |
Common stock shares purchased | 999,194 | 416,514 | 128,289
2019 Employee Stock Purchase Plan | Maximum |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Percentage of earnings for purchase of common stock at discounted price | 15.00% |  |

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