Common Stock and Common Stock Warrant - Schedule of Reserved Shares of Common Stock for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Total	7,217,640	6,271,669
Options Issued And Outstanding Under The 2019 Stock Plan
Class Of Stock [Line Items]
Total	6,246,293	5,465,327
Shares Available for Issuance Under 2019 Stock Plan
Class Of Stock [Line Items]
Total	138,926	269,353
Shares Available for Issuance Under Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total	832,421	536,989