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Employee Stock Purchase Plan - Additional Information (Details) - shares |  | 1 Months Ended | 6 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Sep. 20, 2019 | Sep. 20, 2019 | Jan. 31, 2023 | Jan. 31, 2022 | Dec. 31, 2022 | Jun. 30, 2022 | Jun. 30, 2021 | Dec. 31, 2022 | Mar. 31, 2023 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Percentage of eligible employee compensation | 15.00% |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  |  |  | 6,730,269 |  |  | 6,730,269 | 7,290,493 | 8,382,667
2019 Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Percentage of eligible employee compensation | 15.00% |  |  |  |  |  |  |  |  |
Shares of common stock reserved for future issuance |  |  |  |  | 1,225,527 |  |  | 1,225,527 | 1,553,394 |
Period for automatic increase in common available for future issuance | 10 years |  |  |  |  |  |  |  |  |
Percentage of shares issued from outstanding number of shares | 1.00% | 1.00% |  |  |  |  |  |  |  |
Shares issued |  |  | 24,754 | 31,832 | 24,754 | 44,774 | 7,064 | 31,832 |  |

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