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Amount of cost to be recognized for option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Discount rate from fair value on purchase date that participants pay for shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of shares purchased for issuance under share-based payment arrangement.

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Percentage of vesting of award under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Purchase price of common stock expressed as a percentage of its fair value.

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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	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%