Stockholder's Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands								3 Months Ended	12 Months Ended
	Aug. 12, 2022	Apr. 18, 2022	Oct. 21, 2021	Jul. 28, 2021	Apr. 12, 2021	Apr. 17, 2020	Aug. 13, 2019	Mar. 31, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Aug. 10, 2021
Subsidiary Sale Of Stock [Line Items]
Common stock, shares authorized									200,000,000	200,000,000
Common stock and paid-in capital, par value									$ 0.001	$ 0.001
Preferred stock, par value									$ 0.001	$ 0.001
Proceeds from issuance of common stock, net	$ 150,000						$ 75,000		$ 117,242	$ 249,542	$ 114,283
Maximum amount of common stock preferred stock debt securities warrants and units to be issued							$ 300,000
Registration statement effective date									Aug. 29, 2019
Common stock and paid-in capital, shares issued									53,877,000	47,598,000
Maximum shares of common stock preferred stock debt securities warrants and units to be issued												851,306
Stock-based compensation expenses									$ 28,268	$ 17,352	$ 10,427
Common Stock
Subsidiary Sale Of Stock [Line Items]
Sale of common stock		5,625,563							5,626,000	14,126,000	8,499,000
Common stock price per share		$ 22.22
Offering discounts commissions and offering costs net		$ 7,800
Issuance of common stock, net of transaction costs, shares		5,625,563							5,626,000	14,126,000	8,499,000
Common stock price per share		$ 22.22
Proceeds from issuance of common stock, net		$ 117,200
Initial Public Offering
Subsidiary Sale Of Stock [Line Items]
Offering discounts commissions and offering costs net					$ 2,400	$ 7,300
Proceeds from issuance of common stock, net					$ 72,600	$ 107,900
Initial Public Offering | Common Stock
Subsidiary Sale Of Stock [Line Items]
Sale of common stock			8,712,400		4,562,044	8,222,500
Common stock price per share			$ 19.80		$ 16.44	$ 14.00
Offering discounts commissions and offering costs net			$ 10,500
Issuance of common stock, net of transaction costs, shares			8,712,400		4,562,044	8,222,500
Common stock price per share			$ 19.80		$ 16.44	$ 14.00
Proceeds from issuance of common stock, net			$ 162,000
ATM Offering
Subsidiary Sale Of Stock [Line Items]
Offering discounts commissions and offering costs net									$ 200
Proceeds from issuance of common stock, net								$ 6,400	$ 6,400
Common stock and paid-in capital, shares issued								275,764	275,764
Private Placement [Member] | Common Stock
Subsidiary Sale Of Stock [Line Items]
Sale of common stock				851,306
Common stock price per share				$ 17.62
Issuance of common stock, net of transaction costs, shares				851,306
Common stock price per share				$ 17.62
Proceeds from issuance of common stock, net				$ 15,000