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Stock-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Sep. 22, 2022 | Feb. 06, 2019 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Jan. 01, 2022 | Jan. 01, 2021
Restricted Stock Awards And Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Expected weighted average period |  |  | 2 years 4 months 24 days |  |  |  |
Grant date fair value of units granted |  |  | $ 6.6 |  |  |  |
Share-based payment award requisite service period |  |  | 2 years 1 month 6 days |  |  |  |
Un-recognized compensation expense |  |  | $ 30.2 |  |  |  |
2019 Equity Incentive Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 4 years |  |  |  |  |
Expected weighted average period |  |  | 2 years 8 months 12 days |  |  |  |
Automatic conversion provision of common stock reserved for issuance |  |  | 20,463,901 |  |  |  | 4,099,309
Percentage of stock owned by Individual |  | 10.00% |  |  |  |  |
Percentage of exercise price per share from fair market value |  | 110.00% |  |  |  |  |
Stock options, term |  | 5 years |  |  |  |  |
Cliff vesting percentage |  | 25.00% |  |  |  |  |
Cliff vesting period |  | 1 year |  |  |  |  |
Common stock, shares available for issuance |  |  | 5,587,550 |  |  |  |
Aggregate intrinsic value of option exercised |  |  | $ 1.2 | $ 37.1 | $ 11.1 |  |
Unrecognized stock-based compensation |  |  | $ 64.4 |  |  |  |
Weighted-average grant-date fair value per share of options granted |  |  | $ 8.42 | $ 14.70 | $ 10.14 |  |
2019 Equity Incentive Plan | Minimum |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Stock options, term |  | 10 years |  |  |  |  |
2019 Employee Stock Purchase Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Automatic conversion provision of common stock reserved for issuance |  |  |  |  |  | 591,397 |
Purchase price of common stock, percentage |  |  | 85.00% |  |  |  |
Subsequent offering period |  |  | 6 months |  |  |  |
Un-recognized compensation expense |  |  | $ 0.4 |  |  |  |
2022 Inducement Plan |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Automatic conversion provision of common stock reserved for issuance |  |  |  |  |  | 1,630,000 |
Common stock, shares available for issuance |  |  | 1,401,483 |  |  |  |
Number of additional shares authorized (in shares) | 3,300,000 |  |  |  |  |  |

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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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