Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Feb. 24, 2024	May 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, initially reserved for issuance	11,416,291	6,668,705			195,000
Shares issues under ESPP	2,500,000
Stock-based compensation expense	$ 18,489	$ 11,629	$ 8,237
Weighted-average grant-date fair value of options granted	$ 13.98	$ 10.10
Aggregate intrinsic value of options exercised	$ 16,900	$ 1,800
Total unrecognized stock-based compensation expense for stock options	$ 41,100	$ 28,000
Total unrecognized stock-based compensation expense, weighted-average period of recognition	2 years 7 months 2 days	2 years 7 months 24 days
Estimated dividend yield	0.00%	0.00%	0.00%
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Term of options	10 years
Incentive award plan description	Options granted under the 2019 Plan have a term of 10 years (or five years if granted to a 10% stockholder) and generally vest over a 4-year period with 1-year cliff vesting.
Vesting period of options	4 years
Common stock, initially reserved for issuance	964,622
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 | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares outstanding under ESPP	4.00%
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, initially reserved for issuance	1,317,974
Stock-based compensation expense	$ 600	$ 400
Maximum offering period under ESPP	27 months
Maximum eligible rate of compensation	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%
Maximum number of shares purchasable	4,000
Shares outstanding under ESPP	1.00%
2023 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Term of options	10 years
Vesting period of options	4 years
Common stock, initially reserved for issuance	524,300			1,000,000
2023 Inducement Plan | Cliff Vesting
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period of options	1 year