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Common Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 3 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Oct. 23, 2019 | Dec. 31, 2022 | Oct. 31, 2019 | Mar. 31, 2023 | Mar. 31, 2022 | Jan. 01, 2023 | Jan. 01, 2022 | Oct. 30, 2019 | Jan. 31, 2019
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, authorized shares |  | 150,000,000 |  | 150,000,000 |  |  |  |  |
Non-voting common stock, Terms of conversion |  |  | Each share of the Company’s non-voting common stock may be converted at any time into one share of common stock at the option of its holder by providing 61 days written notice to the Company |  |  |  |  |  |
Weighted average grant-date fair value of stock options granted |  |  |  | $ 9.12 | $ 2.20 |  |  |  |
Unrecognized compensation cost related to unvested stock-based awards |  |  |  | $ 28,012 |  |  |  |  |
Unrecognized compensation cost, period for recognition |  |  |  | 3 years 1 month 6 days |  |  |  |  |
At-The-Market Offering Sales Agreement |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuance, Shares |  |  |  | 0 |  |  |  |  |
Termination, shares |  |  |  | 4,792,562 |  |  |  |  |
Common stock, par value |  |  |  | $ 0.00001 |  |  |  |  |
At-The-Market Offering Sales Agreement | Maximum |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuance |  |  |  | $ 100,000 |  |  |  |  |
December 2022 Financing |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuance, Shares |  | 126,815 |  |  |  |  |  |  |
Common stock price per share |  | $ 5.52 |  |  |  |  |  |  |
2018 Plan | Stock Options |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Share-based compensation unvested number of shares |  |  |  | 0 |  |  |  |  |
Number of options granted |  |  |  | 1,959,411 |  |  |  |  |
2018 Plan | Maximum | Stock Options |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Share-based compensation, vesting period |  |  |  | 4 years |  |  |  |  |
2018 Plan | Minimum | Stock Options |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Share-based compensation, vesting period |  |  |  | 3 years |  |  |  |  |
2019 Plan |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares reserved for issuance | 2,342,288 |  |  |  |  | 1,177,805 |  |  |
Increase in share reserved percentage | 4.00% |  |  |  |  |  |  |  |
Share-based compensation, number of shares available for grant |  |  |  | 361,823 |  |  |  |  |
2019 Plan | Stock Options |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Number of options granted |  |  |  | 2,074,850 |  |  |  |  |
2019 ESPP |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares reserved for issuance | 234,229 |  |  |  |  | 0 | 0 |  |
2019 ESPP | Minimum |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Shares reserved for issuance |  |  |  |  |  |  |  |  | 234,229
Increase in share reserved percentage | 1.00% |  |  |  |  |  |  |  |
Payroll deduction percentage of eligible compensation |  |  |  | 15.00% |  |  |  |  |
Employee stock purchase plan maximum annual rights to purchase common stock |  |  |  | $ 25 |  |  |  |  |
Percentage of shares to be purchased |  |  |  | 85.00% |  |  |  |  |
Voting Common Stock |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, authorized shares |  | 143,590,481 |  | 143,590,481 |  |  |  | 143,590,481 |
Common stock, par value |  | $ 0.00001 |  | $ 0.00001 |  |  |  |  |
Non-voting Common Stock |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock, authorized shares |  | 6,409,519 |  | 6,409,519 |  |  |  | 6,409,519 |
Common stock, par value |  | $ 0.00001 |  | $ 0.00001 |  |  |  |  |
Pre-funded Warrants | December 2022 Financing |  |  |  |  |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |  |  |  |  |
Common stock issuance, Shares |  | 6,213,776 |  |  |  |  |  |  |
Common stock price per share |  | $ 5.51999 |  |  |  |  |  |  |
Decrease in exercise price of Warrents |  | $ 0.00001 |  |  |  |  |  |  |
Net proceeds from exercise of warrants |  | $ 32,562 |  |  |  |  |  |  |
Warrants exercised |  |  |  | 2,083,334 |  |  |  |  |

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