Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	6,904,287	5,146,427
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	942,386	602,935
Outstanding Options | 2015 and 2019 Plans
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	4,922,224	3,620,666
Shares available for grant | 2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	1,039,677	922,826