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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jan. 01, 2023 | Jan. 01, 2022
Restricted Stock Awards And Restricted Stock Units |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |
Expected weighted average period |  |  | 2 years 3 months 18 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 |  |  | $ 41.5 |  |  |  |
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 1 month 6 days |  |  |  |
Automatic conversion provision of common stock reserved for issuance |  |  | 23,018,705 |  |  | 4,144,785 | 1,630,000
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 |  |  | 6,579,341 |  |  |  |
Aggregate intrinsic value of option exercised |  |  | $ 0.1 | $ 1.2 | $ 37.1 |  |
Unrecognized stock-based compensation |  |  | $ 32.7 |  |  |  |
Weighted-average grant-date fair value per share of options granted |  |  | $ 4.93 | $ 8.42 | $ 14.7 |  |
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] |  |  |  |  |  |  |
Common stock, shares available for issuance |  |  | 1,407,389 |  |  |  |
Number of additional shares authorized (in shares) | 3,300,000 |  |  |  |  |  |

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