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Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Oct. 31, 2019 | Dec. 31, 2021 | Dec. 31, 2020 | Jan. 01, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense |  | $ 9,952 | $ 8,686 |
Weighted-average grant-date fair value per share |  | $ 15.04 | $ 24.57 |
Stock options grant date fair value |  | $ 11,900 | $ 8,700 |
Number of stock options, exercises intrinsic value |  | 2,400 | 2,400 |
Stock option vested aggregate fair value |  | 6,800 | 5,400 |
Expected dividend yield |  | 0 |  |
Unrecognized stock-based compensation cost related to outstanding unvested stock options and RSUs that are expected to vest |  | $ 15,700 |  |
Unrecognized stock-based compensation cost, expected period to be recognized |  | 2 years 7 months 6 days |  |
2019 ESPP |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Percentage of increase in shares reserved for issuance on common stock outstanding | 1.00% |  |  |
Total shares reserved | 240,336 |  |  | 240,336
Increase in shares at the beginning of each calendar year | 240,336 |  |  |
Maximum employee subscription rate on salary | 15.00% |  |  |
Offering period | 24 months |  |  |
Purchase period | 6 months |  |  |
Purchase price of common stock as percentage of fair market value | 85.00% |  |  |
Stock-based compensation expense |  | $ 2,500 | $ 2,700 |
Share-based compensation, employee purchased shares |  | 76,424 | 87,325 |
Share-based compensation, shares at weighted average exercise price |  | $ 10.80 | $ 10.27 |
Option Plans |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock available for grant |  | 2,688,372 |  |
Option Plans | Employees, Officers, Directors, Advisors, and Consultants |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 4 years |  |
Option Plans | Maximum | Employees, Officers, Directors, Advisors, and Consultants |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Options granted, expiration period |  | 10 years |  |
2019 Stock Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Percentage of increase in shares reserved for issuance on common stock outstanding |  | 4.00% |  |
2015 Stock Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Award vesting period |  | 48 months |  |
Shares not vested and subject to repurchase |  | 0 | 3,000 |
Cash received from early exercise of unvested options |  | $ 0 | $ 6,000 |

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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://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The estimated amount of dividends to be paid to holders of the underlying shares (expected dividends) over the option's term. Dividends are taken into account because payment of dividends to shareholders reduces the fair value of the underlying shares, and option holders generally do not receive dividends. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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