Common Stock - Schedule of Potential Conversion of Preferred Stock and Future Issuance of Common Stock (Details) - shares	6 Months Ended	12 Months Ended
	Jun. 30, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Shares reserved for future issuance	15,633,623	9,913,011
Outstanding Stock Options
Class Of Stock [Line Items]
Shares reserved for future issuance	10,114,591	6,504,080
Restricted stock Units
Class Of Stock [Line Items]
Shares reserved for vesting of restricted stock units	84,942	76,718
2019 Stock Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	2,512,307	1,941,054
2019 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,438,938	1,061,279
2022 Stock Inducement Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,482,845	329,880