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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Intrinsic value of vested award under share-based payment arrangement. Excludes share and unit options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Stock-based Compensation Expense - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions					12 Months Ended
	May 18, 2023	Mar. 08, 2023	Jan. 01, 2023	Jul. 02, 2019	Dec. 31, 2023	Dec. 31, 2022	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					15,388,773	9,913,011
Unrecognized stock-based compensation expense					$ 30.4
Unrecognized stock-based compensation expense, weighted average period expect to recognized					2 years 10 months 28 days
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance				252,142	1,346,125
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					9,972,217	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	3,157,537
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					$ 4.64	$ 7.62
Total intrinsic value of stock options exercised					$ 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
2019 Plan and 2016 Plan \| Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Contractual term					8 years 5 months 26 days	8 years 6 months 18 days
Grants Outside of 2016 Stock Incentive Plan and 2019 Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate intrinsic value of restricted stock awards vested					$ 0.1	$ 0.2
2022 Inducement Stock Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance					837,877		1,750,000
Increase in number of shares reserved for issuance (shares)	1,400,000	2,000,000