Net Loss Per Share - Potentially Dilutive Securities not Included in Diluted per Share Calculations (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potentially dilutive securities	3,034,556	2,071,773
Stock Options Issued And Outstanding Equity Incentive Plan And Under 2019 Equity Incentive Plan And 2015 Stock Plan
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potentially dilutive securities	2,993,280	2,024,681
Estimated Shares Issuable Under Employee Stock Purchase Plan
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potentially dilutive securities	14,276	6,592
RSUs Subject to Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Potentially dilutive securities	27,000	40,500