Shareholders' Equity - Additional Information (Details)			9 Months Ended
	Jan. 01, 2023 shares	Jan. 01, 2020	Sep. 30, 2023 Vote
Class Of Stock [Line Items]
Common stock voting rights description			Holders of our common stock are entitled to one vote for each share of common stock held
Number of vote for each share | Vote			1
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Increase in share reserve	1,431,050
Employee Stock Purchase Plan | Maximum
Class Of Stock [Line Items]
Percentage of annual increases in number of shares		1.00%
2019 Equity Incentive Plan
Class Of Stock [Line Items]
Increase in share reserve	7,155,250
2019 Equity Incentive Plan | Maximum
Class Of Stock [Line Items]
Percentage of annual increases in number of shares		5.00%