Common Stock - Schedule of Reserved Common Stock on an as-Converted Basis for Future Issuance (Details) - shares	Dec. 31, 2021	Dec. 31, 2020
Class Of Stock [Line Items]
Exercise of outstanding options	3,202,588	3,162,459
Total	5,173,757	4,325,988
2019 Incentive Award Plan
Class Of Stock [Line Items]
Shares of common stock available for grant	1,493,893	844,475
ESPP
Class Of Stock [Line Items]
Shares of common stock available for grant	477,276	319,054