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Stock-Based Compensation - Additional Information (Details) - USD ($)
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock, initially reserved for issuance 6,904,287   6,904,287   5,146,427
Stock-based compensation expense $ 3,044,000 $ 2,058,000 $ 5,649,000 $ 3,976,000  
Weighted-average grant-date fair value of options granted     $ 9.43 $ 15.71  
Aggregate intrinsic value of options exercised     $ 1,000,000.0 $ 900,000  
Total unrecognized stock-based compensation expense for stock options $ 30,100,000   $ 30,100,000   $ 22,200,000
Total unrecognized stock-based compensation expense, weighted-average period of recognition     2 years 9 months 25 days   2 years 7 months 9 days
Common stock repurchased     0 0  
Estimated dividend yield 0.00% 0.00% 0.00% 0.00%  
Unvested Early Exercised Common Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares subject to repurchase 0   0   0
Restricted Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Total fair value of stock vested     $ 0 $ 100,000  
Shares of restricted stock 0   0   0
2019 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Term of options     10 years    
Vesting period of options     4 years    
2019 Equity Incentive Plan | Cliff Vesting          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period of options     1 year    
2019 Equity Incentive Plan | 10% Stockholder          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Term of options     5 years    
2019 Equity Incentive Plan | Incentive Stock Options and Nonqualified Stock Options | Minimum [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of fair value of the shares on the grant date     100.00%    
2019 Equity Incentive Plan | Incentive Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of voting power of all classes of stock     10.00%    
2019 Equity Incentive Plan | Incentive Stock Options | Minimum [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of fair value of the shares on the grant date     110.00%    
2019 Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock, initially reserved for issuance 942,386   942,386    
Stock-based compensation expense     $ 200,000 $ 200,000  
Maximum offering period under ESPP     27 months    
Maximum eligible rate of compensation 15.00%   15.00%    
2019 Employee Stock Purchase Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of the fair value of common stock 85.00%   85.00%    
Maximum number of shares purchasable 4,000   4,000