Stock-Based Awards -Summary of Employees Stock Purchase Plan (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected stock price volatility,minimum	101.40%	103.10%	88.80%
Expected stock price volatility,maximum	111.20%	112.10%	108.60%
Risk-free interest rate, minimum	1.60%	0.60%	0.30%
Risk-free interest rate, maximum	4.30%	1.30%	1.20%
Expected dividend yield	0.00%	0.00%	0.00%
2019 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of ESPP (in years)	6 months	6 months
Expected stock price volatility,minimum	59.00%	76.10%
Expected stock price volatility,maximum	86.00%	144.10%
Risk-free interest rate, minimum	0.10%	0.04%
Risk-free interest rate, maximum	4.50%	0.10%
Expected dividend yield	0.00%	0.00%