Common Stock - Schedule of Potential Conversion of Preferred Stock and Future Issuance of Common Stock (Details) - shares	Mar. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Shares reserved for conversion of preferred stock and future issuance of common stock	6,550,280	5,156,962
Outstanding Stock Options
Class Of Stock [Line Items]
Shares reserved for future issuance	4,206,984	2,962,347
2019 Stock Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,596,623	1,728,616
2019 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	746,673	465,999