Annual report pursuant to Section 13 and 15(d)

Common Stock - Additional Information (Details)

v3.22.0.1
Common Stock - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Oct. 23, 2019
Dec. 31, 2021
Dec. 31, 2020
Jan. 01, 2022
Oct. 31, 2019
Class Of Stock [Line Items]          
Common stock, authorized shares   150,000,000 150,000,000    
Common stock issuance   $ 48,253      
Proceeds from issuance of common stock, net of issuance costs   48,253 $ (192)    
Unrecognized compensation cost related to unvested stock-based awards   $ 14,897      
Unrecognized compensation cost, weighted average period for recognition   2 years 7 months 6 days      
Stock Options          
Class Of Stock [Line Items]          
Weighted average grant-date fair value of stock options granted   $ 7.45 $ 8.31    
At-The-Market Offering Sales Agreement          
Class Of Stock [Line Items]          
Common stock issuance, Shares   4,792,562      
Proceeds from issuance of common stock, net of issuance costs   $ 48,300      
Commissions   1,400      
At-The-Market Offering Sales Agreement | Maximum          
Class Of Stock [Line Items]          
Common stock issuance   $ 75,000      
2018 Plan | Stock Options          
Class Of Stock [Line Items]          
Share-based compensation unvested number of shares   0      
Number of options granted   1,959,411      
2018 Plan | Maximum | Stock Options          
Class Of Stock [Line Items]          
Share-based compensation, vesting period   4 years      
2018 Plan | Minimum | Stock Options          
Class Of Stock [Line Items]          
Share-based compensation, vesting period   3 years      
2019 Plan          
Class Of Stock [Line Items]          
Shares reserved for issuance 2,342,288        
Increase in share reserved percentage 4.00%        
Share-based compensation, number of shares available for grant   1,855,788      
2019 Plan | Subsequent Event          
Class Of Stock [Line Items]          
Shares reserved for issuance       1,157,085  
2019 Plan | Stock Options          
Class Of Stock [Line Items]          
Number of options granted   1,653,733      
2019 ESPP          
Class Of Stock [Line Items]          
Shares reserved for issuance 234,229        
2019 ESPP | Subsequent Event          
Class Of Stock [Line Items]          
Shares reserved for issuance       0  
2019 ESPP | Maximum          
Class Of Stock [Line Items]          
Payroll deduction percentage of eligible compensation   15.00%      
Employee stock purchase plan maximum annual rights to purchase common stock   $ 25      
Percentage of shares to be purchased   85.00%      
2019 ESPP | Minimum          
Class Of Stock [Line Items]          
Shares reserved for issuance 234,229        
Increase in share reserved percentage 1.00%        
Voting Common Stock          
Class Of Stock [Line Items]          
Common stock, authorized shares   143,590,481 143,590,481   143,590,481
Non-voting Common Stock          
Class Of Stock [Line Items]          
Common stock, authorized shares   6,409,519 6,409,519   6,409,519