Stockholders' Equity and Stock-based Compensation Expense - Activity Of Options Outstanding Under the 2019 Plans (Details) - $ / shares	3 Months Ended	12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Shares Available for Grant
Beginning balance (in shares)	1,070,925
Stock awards canceled / forfeited / expired (in shares)	206,087
Options canceled / forfeited / expired (in shares)	(4,835)
Ending balance (in shares)	1,245,306	1,070,925
Number of Stock Options Outstanding
Beginning balance (in shares)	513,935
Options exercised (in shares)	(5,775)
Options canceled / forfeited / expired (in shares)	(4,835)
Ending balance (in shares)	503,325	513,935
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 34.41
Options exercised (in dollars per share)	18.93
Options canceled / forfeited / expired (in dollars per share)	46.99
Ending balance (in dollars per share)	$ 34.47	$ 34.41
Weighted Average Remaining Term (in Years)
Weighted average remaining term (in years)	5 years 3 months 14 days	6 years 7 months 17 days
RSUs
Shares Available for Grant
RSUs granted (in shares)	(36,541)