Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant date fair value of options granted	$ 1.61	$ 1.91
Unrecognized stock-based compensation cost of unvested options	$ 7.9
Unrecognized stock-based compensation of unvested options, recognized over weighted-average period	2 years 3 months 18 days
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares purchased	0	0
Number of shares, grants for stock purchase rights	0	0
Performance-Based Stock Option \| 2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Grant date fair value	$ 0.3
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	1 year 7 months 6 days
Unrecognized stock-based compensation cost of unvested RSUs	$ 6.4

Share based compensation arrangement by share based payment award, grants.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of shares purchased for issuance under share-based payment arrangement.

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