Stock-based Compensation Expense - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions					1 Months Ended	3 Months Ended		6 Months Ended
	Jan. 01, 2024	May 18, 2023	Mar. 08, 2023	Jul. 02, 2019	Jul. 17, 2024	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Feb. 28, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance						18,482,080		18,482,080		15,388,773
Unrecognized stock-based compensation expense						$ 40.2		$ 40.2
Unrecognized stock-based compensation expense, weighted average period expect to recognized								2 years 9 months 18 days
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance				252,142		1,701,485		1,701,485
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%
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance						12,547,394		12,547,394		9,972,217
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		2,709,603		2,709,603
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						$ 5.79	$ 2.5	$ 6.17	$ 4.83
Total intrinsic value of stock options exercised						$ 0.1	$ 0.0	$ 0.9	$ 0.2
2019 Stock Incentive Plan | Employee 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						1,407,603		1,407,603			1,750,000
Increase in number of shares reserved for issuance (shares)		1,400,000	2,000,000		1,000,000