Stock-based Compensation - Additional Information (Details) - USD ($) $ in Thousands |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2022 |
Sep. 30, 2021 |
Sep. 30, 2022 |
Sep. 30, 2021 |
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||||
| Unrecognized stock-based compensation cost related to outstanding unvested stock options that are expected to vest | $ 23,300 | $ 23,300 | ||
| Unrecognized stock-based compensation cost, expected period to be recognized | 2 years 8 months 12 days | |||
| Stock-based compensation expense | 2,865 | $ 2,005 | $ 8,239 | $ 7,866 |
| 2019 ESPP | ||||
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||||
| Stock-based compensation expense | $ 300 | $ 500 | $ 600 | $ 2,300 |
| 2019 Plan | ||||
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||||
| Shares remained available for issuance | 2,850,944 | 2,850,944 | ||