Stockholders' Deficit - Narrative (Details) $ / shares in Units, $ in Millions	3 Months Ended	6 Months Ended
	Jun. 30, 2024 USD ($) $ / shares shares	Jun. 30, 2024 USD ($) installment $ / shares shares	Dec. 31, 2023 $ / shares shares	Sep. 29, 2023 shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock, shares authorized (in shares)	500,000,000	500,000,000	500,000,000
Common stock, par value (in USD per share) | $ / shares	$ 0.0001	$ 0.0001	$ 0.0001
Common stock, shares issued (in shares)	25,771,132	25,771,132	21,888,976
Common stock, shares outstanding (in shares)	25,771,132	25,771,132	21,888,976	21,888,976
Common stock, reserved for future issuance (in shares)	474,228,868	474,228,868
Preferred stock, shares authorized (in shares)	10,000,000	10,000,000
Preferred stock, par value (in USD per share) | $ / shares	$ 0.0001	$ 0.0001
Preferred stock, shares issued (in shares)	0	0
Preferred stock, shares outstanding (in shares)	0	0
Fair value of options vested | $		$ 4.9
Unrecognized stock-based compensation | $	$ 11.2	$ 11.2
Employee Stock
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Maximum shares allowed to be issued (as a percent)		3.00%
ESPP purchase price of common stock, percent of market price (as a percent)		85.00%
Weighted- average period of recognition		2 years 9 months 18 days
Stock options
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expected dividend yield		0.00%
Stock options | 2019 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expiration period (in years)		10 years
Vesting period		4 years
Vesting percentage (as a percent)		25.00%
Number of monthly installments | installment		36
Vested, expiration period		3 months
Stock options | 2019 Equity Incentive Plan | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period		3 years
Stock options | 2019 Equity Incentive Plan | Maximum | Board Member
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period		4 years
Stock options | 2019 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expiration period (in years)		10 years
Vested, expiration period		3 months
Expected dividend yield	0.00%
Stock options | 2019 Equity Incentive Plan | Minimum | Board Member
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expiration period (in years)		3 years
Stock options | 2019 Equity Incentive Plan | Maximum | Board Member
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Expiration period (in years)		4 years
Stock Compensation | 2019 Equity Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Maximum shares allowed to be issued (as a percent)		12.00%