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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Weighted-average grant date fair value of options granted $ 1.91 $ 6.59
Unrecognized stock-based compensation cost of unvested options $ 11.6  
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period 2 years 7 months 6 days  
2019 Employee Stock Purchase Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Common stock shares purchased 0  
Number of shares, grants for stock purchase rights 0  
Performance-Based Stock Option    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Performance-based stock option activity, number of shares 421,000  
Performance-based stock option activity, exercise price $ 5.10  
Performance-based stock option activity, remaining contractual term 9 months  
Performance-based stock option activity, Fully vested and exercisable intrinsic value $ 0.0  
Restricted Stock Units    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period 2 years 4 months 24 days  
Unrecognized stock-based compensation cost of unvested RSUs $ 16.9