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Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 6 Months Ended
Dec. 31, 2020
Nov. 30, 2019
Jun. 30, 2022
Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Unrecognized compensation cost     $ 13.4  
Estimated recognition weighted-average amortization period     2 years 4 months 24 days  
Aggregate intrinsic value of options outstanding     $ 0.1  
Weighted-average grant-date fair values of options granted     $ 1.67 $ 8.50
Expected dividend yield     0.00% 0.00%
Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Sale of shares under ATM, Shares     1,418,707  
2019 Incentive Award Plan | Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Sale of shares under ATM, Shares     1,058,350  
Number of shares of common stock initially available for issuance   1,948,970    
Percentage of shares of common stock outstanding   4.00%    
2019 Incentive Award Plan | Common Stock | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares issued under the plan   14,130,029    
2019 Employee Stock Purchase Plan | Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Sale of shares under ATM, Shares   264,587 1,006,084  
Percentage of shares of common stock outstanding   1.00%    
Number of shares available for issuance   243,621    
2019 Employee Stock Purchase Plan | Common Stock | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares issued under the plan   3,288,886    
2012 Equity Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares available for issuance     0  
Number of shares authorized     2,007,776  
Vesting period     4 years  
Term of award     10 years  
At-the-market Offering [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Aggregate value of common stock sale under ATM offering $ 50.0   $ 40.6  
Commission to agent as percentage of ATM offering proceeds     3.00%  
Sale of shares under ATM, Shares     314,296  
Weighted average price per share     $ 3.70  
Net proceeds from common stock     $ 1.1