Stock-Based Compensation - Summary of Weighted-average Assumptions Used in Determination of Fair Value of Service-Based Stock Options (Details) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Volatility, minimum	72.61%	78.47%	72.61%	78.47%
Volatility, maximum	73.12%	79.31%	80.28%	79.31%
Risk-free interest rate, minimum	4.35%	3.47%	3.88%	3.47%
Risk-free interest rate, maximum	4.65%	3.98%	4.65%	3.98%
Dividend yield	0.00%
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 months	6 months	6 months	6 months
Volatility	61.35%	84.88%	61.35%	84.88%
Risk-free interest rate	5.43%	5.14%	5.43%	5.14%
Grant-date fair value per share	$ 0.51	$ 0.91	$ 0.51	$ 0.91
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 6 months	5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 7 days	6 years 29 days	6 years 7 days