Stockholders' Equity - Additional Information (Details)			1 Months Ended											3 Months Ended		4 Months Ended	12 Months Ended	63 Months Ended
	Dec. 16, 2020 USD ($) $ / shares shares	Oct. 29, 2019 USD ($) $ / shares shares	Feb. 28, 2023 USD ($) shares	Jan. 31, 2023 shares	Sep. 30, 2022 USD ($) shares	Jul. 31, 2022 shares	Jan. 31, 2022 shares	Aug. 31, 2021 shares	Nov. 30, 2020	Nov. 30, 2019 $ / shares shares	Oct. 31, 2019 shares	May 31, 2019 shares	Mar. 31, 2019 shares	Mar. 31, 2023 USD ($) $ / shares shares	Mar. 31, 2022 USD ($) $ / shares shares	May 06, 2019 USD ($) shares	Dec. 31, 2019 shares	Mar. 31, 2023 USD ($) shares	Jan. 01, 2023 shares	Dec. 31, 2022 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock Issued During Period, Value, New Issues | $														$ 14,073,000
Preferred stock, shares authorized														40,000,000				40,000,000		40,000,000
Preferred stock, shares issued														0				0		0
Preferred stock, shares outstanding														0				0		0
Stock options, granted														1,043,660
Stock-based compensation cost | $														$ 7,048,000	$ 5,775,000
Common stock reserved for issuance														10,868,359				10,868,359
Unrecognized stock-based compensation expense | $														$ 37,300,000				$ 37,300,000
Unrecognized stock-based compensation expense, weighted-average period for recognition														2 years 1 month 6 days
Defined contribution plan employer contribution liabilities expense | $														$ 800,000	$ 600,000
Defined contribution plan, employer matching contribution, percentage														75.00%
Employer discretionary match number of shares settled				52,130		84,784	16,756	18,394
Dividend yield														0.00%	0.00%
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield														0.00%
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense | $														$ 11,500,000				$ 11,500,000
Unrecognized stock-based compensation expense, weighted-average period for recognition														2 years 3 months 18 days
2019 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares authorized for issuance																	2,231,739
Stock options, granted																	1,400,528
Number of shares available for issuance											0
2019 Equity Incentive Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted																	16,260
2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Annual increase to shares available for issuance percentage of outstanding common stock											5.00%
Equity plan, description														The number of shares initially available for issuance will be increased by (i) the number of shares subject to stock options or similar awards granted under the Existing Incentive Plan that expire or otherwise terminate without having been exercised in full after the effective date of the 2019 Plan and unvested shares issued pursuant to awards granted under the Existing Incentive Plan that are forfeited to or repurchased by the Company after the effective date of the 2019 Plan, with the maximum number of shares to be added to the 2019 Plan pursuant to clause (i) above equal to 1,416,788 shares, and (ii) an annual increase on January 1 of each calendar year beginning in 2020 and ending in 2029, equal to the lesser of (a) 5% of the shares of common stock outstanding on the final day of the immediately preceding calendar year and (b) such smaller number of shares as determined by the board of directors. As of March 31, 2023, 681,762 shares remain available for issuance, which reflects 2,391,070 of stock option, performance-based unit, or PSU, and restricted stock unit, or RSU, awards granted, and 28,782 of awards cancelled or forfeited, during the three months ended March 31, 2023 as well as an annual increase of 2,086,165 shares authorized on January 1, 2023.
Number of shares remain available for issuance, annual increase														2,086,165				2,086,165
Common stock reserved for issuance														681,762				681,762
2019 Incentive Award Plan | Performance-Based Stock Units (PSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted														597,650	37,500
Stock-based compensation cost | $														$ 0
Unrecognized stock-based compensation expense | $														$ 19,300,000				$ 19,300,000
2019 Incentive Award Plan | Stock options, PSUs and RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of awards, granted														2,391,070
Number of awards, cancelled or forfeited														28,782
2019 Incentive Award Plan | Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock awards, granted														749,760
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for issuance														1,048,370				1,048,370
Annual increase to shares available for issuance percentage of outstanding common stock											1.00%
Equity plan, description														In addition, the number of shares available for issuance under the ESPP will be annually increased on January 1 of each calendar year beginning in 2020 and ending in 2029, by an amount equal to the lesser of: (i) 1% of the shares outstanding on the final day of the immediately preceding calendar year and (ii) such smaller number of shares as is determined by the board of directors. As of March 31, 2023, 1,048,370 shares of common stock remain available for issuance, which includes the 121,801 shares sold to employees during the three months ended March 31, 2023 as well as an annual increase of 417,233 shares authorized on January 1, 2023.
Number of shares remain available for issuance, annual increase																			417,233
Stock-based compensation cost | $														$ 100,000	$ 100,000
Common stock reserved for issuance											270,000			1,048,370				1,048,370
Number of shares issued														121,801
Estimated weighted-average fair value | $ / shares														$ 2.87	$ 5.31
Unrecognized stock-based compensation expense | $														$ 200,000				$ 200,000
Unrecognized stock-based compensation expense, weighted-average period for recognition														3 months 18 days
Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued	2,250,000
Common stock, price per share | $ / shares	$ 42.00
Proceeds from issuance initial public offering gross | $	$ 94,500,000
Purchase price per share after deducting underwriting discounts and commissions | $ / shares	$ 39.48
Net proceeds after deducting underwriters commission | $	$ 88,800,000
Purchase of additional offering expenses | $	$ 200,000
At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued			1,514,219		2,414,897													3,929,116
Proceeds from issuance of shares | $			$ 14,100,000		$ 24,600,000									$ 14,072,000				$ 38,700,000
Stock issuance costs | $			$ 400,000		$ 800,000
Amount utilized of equity financing | $														39,900,000
Available equity financing amount | $														$ 125,000,000.0
Employee and Nonemployee Director
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Estimated weighted-average fair value | $ / shares														$ 5.13
Open Market Sale Agreement with Jefferies LLC | At-the-Market Offering Program
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Sales commission payable as a percentage of sale of gross sales price per share									3.00%
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued														1,514,219		2,524,852
Stock Issued During Period, Value, New Issues | $														$ 1,000
Number of shares authorized to repurchase													3,373,408
Stock repurchase program, number of shares right lapse													843,352
Remaining number of shares to be repurchased													2,530,056
Stock repurchase program, period in force													48 months
Stock repurchase program expiration period													2023-03
Proceeds from issuance of shares | $																$ 1,000
Repurchase right lapse each month after first anniversary, shares																0.000208
Repurchases of shares										17,560
Shares aggregate repurchase price | $ / shares										$ 5.20
Employer discretionary match number of shares settled														52,130	16,756
Common Stock | 2019 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Additional number of shares available for issuance											1,416,788
Common Stock | Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum percentage of eligible compensation contributed by participants											20.00%
Common Stock | IPO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued		10,997,630
Common stock, price per share | $ / shares		$ 19.00
Proceeds from Initial Public Offering (IPO) | $		$ 191,500,000
Common Stock | Underwritten Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued		1,434,473
Common Stock | Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining number of shares to be repurchased														31,843				31,843
Common Stock | First Anniversary
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Initial repurchase right lapse rate																25.00%
Common Stock | Takeda License
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued												1,084,000
Common Stock | Founders
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining number of shares to be repurchased														0				0
Common Stock | Frazier
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock shares issued													1,491,072