Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	6,968,375	5,146,427
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	988,265	602,935
Outstanding Options | 2015 and 2019 Plans
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	4,809,581	3,620,666
Shares available for grant | 2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	1,170,529	922,826