Stock-based Compensation - Summary of Options to Purchase Common Stock (Details) - 2019 Equity Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding, beginning balance	13,713,272	11,644,070
Number of Options, Granted	572,538	4,996,366
Number of Options, Exercised	(132,192)	(298,239)
Number of Options, Forfeited	(2,057,381)	(2,628,925)
Number of Options, Outstanding, ending balance	12,096,237	13,713,272
Number of Options, Exercisable	8,467,987
Number of Options, Vested and expected to vest	12,096,237
Weighted average exercise price, Outstanding, beginning balance	$ 14.62	$ 16.41
Weighted average exercise price, Granted	6.98	12.11
Weighted average exercise price, Exercised	8.16	10.26
Weighted average exercise price, Forfeited	14.21	18.28
Weighted average exercise price, Outstanding, ending balance	14.4	$ 14.62
Weighted average exercise price, Exercisable	14.8
Weighted average exercise price, Vested and expected to vest	$ 14.4
Weighted Average Remaining Contractual Term, Outstanding	6 years 8 months 12 days
Weighted Average Remaining Contractual Term, Exercisable (In years)	6 years
Weighted Average Remaining Contractual Term, Vested and expected to vest (In years)	6 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding	$ 676
Aggregate Intrinsic Value, Exercisable	62
Aggregate Intrinsic Value, Vested or expected to vest	$ 676