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Stock-Based Compensation - Stock options (Details) - USD ($)
 12 Months Ended
May 03, 2019
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Expense Not Recognized        
Unrecognized compensation cost   $ 7,700,000    
Compensation expense recognition period   1 year 9 months 18 days    
2015 Plan        
Number of Shares        
Outstanding at the beginning (in shares)   5,262,179 4,545,794  
Granted (in shares)   2,074,750 1,739,350  
Exercised (in shares)   (5,057) (50,420)  
Forfeitures (in shares)   (514,770) (972,545)  
Outstanding at the end (in shares)   6,817,102 5,262,179 4,545,794
Exercisable at the end (in shares)   3,851,843    
Weighted Average Exercise Price        
Outstanding at the beginning (in dollars per share)   $ 11.44 $ 14.15  
Granted (in dollars per share)   1.55 5.34  
Exercised (in dollars per share)   0.99 1.32  
Forfeited (in dollars per share)   6.25 13.77  
Outstanding at the end (in dollars per share)   8.83 $ 11.44 $ 14.15
Exercisable at the end (in dollars per share)   $ 12.50    
Weighted Average Remaining Contractual Life (Years) And Aggregate Intrinsic Value        
Outstanding (in years)   7 years 3 months 18 days 7 years 7 months 6 days 8 years 1 month 6 days
Outstanding at the beginning (in dollars)   $ 115,000 $ 2,860,000  
Outstanding at the end (in dollars)     $ 115,000 $ 2,860,000
Exercisable at the end (in dollars)   $ 52,000    
Weighted average grant date fair value per share of stock options granted   $ 1.11 $ 3.69  
Aggregate intrinsic value of stock options exercised   $ 3,000 $ 13,000  
Aggregate grant date fair value   $ 9,100,000 $ 11,000,000.0  
Omnibus Incentive Plan        
Stock Based Compensation        
Number of shares reserved for issuance under the plan 2,900,000      
Annual increase in number of share reserved for issuance (as percent) 4.00%      
2015 Plan and 2019 Employee Stock Purchase Plan        
Stock Based Compensation        
Vesting period   4 years    
Expiration period   10 years    
Number of shares reserved for issuance under the plan   2,204,868    
2019 Employee Stock Purchase Plan        
Stock Based Compensation        
Number of shares issued   173,017    
Number of shares reserved for issuance under the plan 240,000 617,663    
Annual increase in number of share reserved for issuance (as percent) 1.00%      
Maximum annual increase in shares available for issuance under the plan 480,000