Stock-Based Compensation - Summary of Assumptions Used to Value Under Stock Option Plans (Details) - Employee and Non-employees - Share-based Payment Arrangement, Option - $ / shares	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
2019 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Volatility, minimum	91.00%	71.30%
Volatility, maximum	101.50%	92.90%
Risk-free interest rate, minimum	1.49%	0.05%
Risk-free interest rate, maximum	4.75%	1.55%
Option Plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Volatility, minimum	89.80%	81.00%
Volatility, maximum	94.30%	86.90%
Risk-free interest rate, minimum	1.42%	0.55%
Risk-free interest rate, maximum	4.09%	1.26%
Minimum \| 2019 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value	$ 6.53	$ 7.88
Expected term (in years)	6 months	6 months
Minimum \| Option Plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value	$ 10.35	$ 13.20
Expected term (in years)	5 years 9 months 14 days	3 years 11 months 4 days
Maximum \| 2019 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value	$ 14.89	$ 21.60
Expected term (in years)	2 years	2 years
Maximum \| Option Plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value	$ 28.63	$ 26.88
Expected term (in years)	6 years 29 days	6 years 18 days

Agreed-upon price for the exchange of the underlying asset relating to the share-based payment award.

No definition available.

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- Definition

The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

No definition available.

+ Details

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- Definition

The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

No definition available.

+ Details

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- Definition

The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

+ References

No definition available.

+ Details

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- Definition

The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

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No definition available.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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No definition available.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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