Equity Incentive Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended		9 Months Ended
	Apr. 30, 2023	Jun. 30, 2019	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Option granted to purchase shares			96,340
Unrecognized compensation cost			$ 49,200		$ 49,200
Expected weighted average period					3 years 5 months 12 days
Stock based compensation expense			$ 6,552	$ 5,926	$ 19,199	$ 17,064
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units granted			0
2019 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares of common stock reserved for issuance		2,200,000
Percentage of increase in reserved common shares		4.00%
Number of common shares available for future issuance			479,511		479,511
2014 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares available for future issuance			0		0
2019 ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares of common stock reserved for issuance		315,000
Number of common shares available for future issuance			1,282,528		1,282,528
Average grant date fair value per share under the plan					$ 9.88
Stock based compensation expense			$ 100	$ 100	$ 300	$ 300
2019 ESPP | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares of common stock reserved for issuance		3,150,000
Percentage of increase in reserved common shares		1.00%
2023 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common shares available for future issuance			973,100		973,100
2023 Inducement Plan | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Option granted to purchase shares	1,000,000