Stockholders' Equity and Stock-based Compensation Expense - Activity Of Options Outstanding Under the 2019 Plans (Details) - $ / shares	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Shares Available for Grant
Beginning balance (in shares)	1,070,925
Stock awards canceled / forfeited / expired (in shares)	279,567
Options canceled / forfeited / expired (in shares)	84,629
Ending balance (in shares)	699,143	1,070,925
Number of Stock Options Outstanding
Beginning balance (in shares)	513,935
Options granted in period (in shares)	309,214
Options exercised (in shares)	(9,234)
Options canceled / forfeited / expired (in shares)	(84,629)
Ending balance (in shares)	729,286	513,935
Weighted- Average Exercise Price
Beginning balance (in dollars per share)	$ 34.41
Granted (in dollars per share)	18.80
Options exercised (in dollars per share)	15.92
Options canceled / forfeited / expired (in dollars per share)	27.32
Ending balance (in dollars per share)	$ 28.85	$ 34.41
Weighted Average Remaining Term (in Years)
Weighted average remaining term (in years)	6 years 11 months 12 days	6 years 7 months 17 days
RSUs
Shares Available for Grant
RSUs granted (in shares)	(735,978)