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Stock-based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Sep. 22, 2022
Feb. 06, 2019
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Jan. 01, 2022
Jan. 01, 2021
Restricted Stock Awards And Restricted Stock Units              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Expected weighted average period     2 years 4 months 24 days        
Grant date fair value of units granted     $ 6.6        
Share-based payment award requisite service period     2 years 1 month 6 days        
Un-recognized compensation expense     $ 30.2        
2019 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period   4 years          
Expected weighted average period     2 years 8 months 12 days        
Automatic conversion provision of common stock reserved for issuance     20,463,901       4,099,309
Percentage of stock owned by Individual   10.00%          
Percentage of exercise price per share from fair market value   110.00%          
Stock options, term   5 years          
Cliff vesting percentage   25.00%          
Cliff vesting period   1 year          
Common stock, shares available for issuance     5,587,550        
Aggregate intrinsic value of option exercised     $ 1.2 $ 37.1 $ 11.1    
Unrecognized stock-based compensation     $ 64.4        
Weighted-average grant-date fair value per share of options granted     $ 8.42 $ 14.70 $ 10.14    
2019 Equity Incentive Plan | Minimum              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Stock options, term   10 years          
2019 Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Automatic conversion provision of common stock reserved for issuance           591,397  
Purchase price of common stock, percentage     85.00%        
Subsequent offering period     6 months        
Un-recognized compensation expense     $ 0.4        
2022 Inducement Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Automatic conversion provision of common stock reserved for issuance           1,630,000  
Common stock, shares available for issuance     1,401,483        
Number of additional shares authorized (in shares) 3,300,000