Equity - Additional Information (Details) - USD ($)	3 Months Ended				6 Months Ended		12 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Mar. 31, 2021	Mar. 31, 2020	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2020	Dec. 31, 2021
Class Of Stock [Line Items]
Stock-based compensation expense	$ 2,521,000	$ 2,338,000			$ 5,364,000	$ 4,473,000
Early exercised shares repurchased	1,152				1,152
Aggregate net proceeds					$ 0	2,767,000
Non-employee awards
Class Of Stock [Line Items]
Stock-based compensation expense	$ 0	0			0	100,000
Early Exercised Stock Options - 2015 Plan
Class Of Stock [Line Items]
Other current liabilities relating to shares subject to repurchase	$ 2,000,000				2,000,000			$ 8,000,000
Early exercised shares repurchased								4,608
Common Stock [Member]
Class Of Stock [Line Items]
Stock issued during period, shares, new issues			6,764,704
Common Stock [Member] | Sales Agreement [Member]
Class Of Stock [Line Items]
Aggregate net proceeds					$ 5,800,000
Stock issued during period, shares, new issues					330,222
Aggregate Offering Price				$ 75,000.0
Remaining Availability To Be Sold					$ 69,000.0
2019 Equity Incentive Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	1,227,464				1,227,464
Aggregate intrinsic value of options exercisable	$ 0	$ 1,000,000.0			$ 1,000,000.0	2,400,000
Future tax benefit related to options exercised					$ 0	$ 0
2019 Equity Incentive Plan | Employee Stock Option
Class Of Stock [Line Items]
Weighted average grant date fair value of options vested					$ 5.25	$ 3.88
Weighted average grant date fair value of options granted					$ 3.18	$ 13.99
2019 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Shares reserved for future issuance	839,000				839,000		750,000
Number of shares issued under the plan					106,233
Percentage of capital stock outstanding							1.00%
Number of shares increased reserved for issuance under plan					328,000
2019 Employee Stock Purchase Plan | Maximum
Class Of Stock [Line Items]
Shares reserved for future issuance							250,000