Common Stock - Schedule of Potential Conversion of Preferred Stock and Future Issuance of Common Stock (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class Of Stock [Line Items]
Shares reserved for conversion of preferred stock and future issuance of common stock	5,156,962	4,142,664
Outstanding Stock Options
Class Of Stock [Line Items]
Shares reserved for future issuance	2,962,347	2,023,828
2019 Stock Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,728,616	1,866,694
2019 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	465,999	252,142