Stockholders' Equity - Summary of Fair Value of the Rights Granted to Employees Under the 2019 ESPP was Estimated at the Date of Offer Using Black-Scholes Option-pricing Model (Details) - 2019 Employee Stock Purchase Plan - ESPP shares available for purchase	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Volatility	102.00%	110.00%	72.00%
Expected term (years)	1 year 6 months 7 days	1 year 7 months 17 days	1 year 3 months 7 days
Risk-free interest rate	4.64%	3.76%	0.27%
Expected dividend yield	0.00%	0.00%	0.00%