Stock-based Compensation Expense - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions					3 Months Ended		6 Months Ended
	May 18, 2023	Mar. 08, 2023	Jan. 01, 2023	Jul. 02, 2019	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					15,633,623		15,633,623		9,913,011
Unrecognized stock-based compensation expense					$ 37.8		$ 37.8
Unrecognized stock-based compensation expense, weighted average period expect to recognized							3 years 3 months
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance				252,142	1,438,938		1,438,938
Increase in number of shares reserved for issuance (shares)			428,571	428,571
Increase in number of shares reserved for issuance, percent of common stock outstanding				1.00%
Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					10,114,591		10,114,591		6,504,080
2016 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					0		0
2019 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance				2,017,142	2,512,307		2,512,307
Increase in number of shares reserved for issuance (shares)			2,000,000	2,000,000
Increase in number of shares reserved for issuance, percent of common stock outstanding				4.00%
Weighted average grant date fair value					$ 2.5	$ 8.44	$ 4.83	$ 9.43
Total intrinsic value of stock options exercised					$ 0.0	$ 2.2	$ 0.2	$ 2.6
2019 Stock Incentive Plan | Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period							4 years
Contractual term							10 years
2022 Inducement Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					1,482,845		1,482,845			1,750,000
Increase in number of shares reserved for issuance (shares)	1,400,000	2,000,000