Common Stock - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	5,146,427	3,924,191
Exercise of Outstanding Options | 2015 and 2019 Plans
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	3,620,666	2,591,456
Issuance of Common Stock Options | 2019 Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	922,826	975,135
Issuance of Common Stock Options | Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of common stock reserved for future issuance	602,935	357,600