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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Weighted-average grant date fair value of options granted | $ 1.61 | $ 1.91
Unrecognized stock-based compensation cost of unvested options | $ 7.9 |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period | 2 years 3 months 18 days |
2019 Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock shares purchased | 0 | 0
Number of shares, grants for stock purchase rights | 0 | 0
Performance-Based Stock Option | 2019 Employee Stock Purchase Plan |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Grant date fair value | $ 0.3 |
Restricted Stock Units |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period | 1 year 7 months 6 days |
Unrecognized stock-based compensation cost of unvested RSUs | $ 6.4 |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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