Annual report pursuant to Section 13 and 15(d)

Common Stock - Additional Information (Details)

v3.22.4
Common Stock - Additional Information (Details) - USD ($)
 1 Months Ended 12 Months Ended
Oct. 31, 2019
Oct. 23, 2019
Jan. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2023
Oct. 30, 2019
Jan. 31, 2019
Class Of Stock [Line Items]                
Common stock, authorized shares       150,000,000 150,000,000      
Common stock issuance         $ 48,253,000      
Common Stock, Terms of Conversion Each share of the Company’s non-voting common stock may be converted at any time into one share of common stock at the option of its holder by providing written notice to the Company              
Proceeds from issuance of common stock, net of issuance costs       $ 32,855,000 $ 48,253,000      
Unrecognized compensation cost related to unvested stock-based awards       $ 11,559,000        
Unrecognized compensation cost, weighted average period for recognition       2 years 2 months 12 days        
Stock Options                
Class Of Stock [Line Items]                
Weighted average grant-date fair value of stock options granted       $ 2.15 $ 7.45      
At-The-Market Offering Sales Agreement                
Class Of Stock [Line Items]                
Common stock issuance, Shares       0 4,792,562      
Proceeds from issuance of common stock, net of issuance costs         $ 48,300,000      
Commissions         $ 1,400,000      
At-The-Market Offering Sales Agreement | Maximum                
Class Of Stock [Line Items]                
Common stock issuance       $ 75,000,000.0        
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       1,206,702        
2019 Plan | Subsequent Event                
Class Of Stock [Line Items]                
Shares reserved for issuance           1,177,805    
2019 Plan | Stock Options                
Class Of Stock [Line Items]                
Number of options granted       2,101,500        
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 | Minimum                
Class Of Stock [Line Items]                
Shares reserved for issuance               234,229
Increase in share reserved percentage   1.00%            
Payroll deduction percentage of eligible compensation       15.00%        
Employee stock purchase plan maximum annual rights to purchase common stock       $ 25,000        
Percentage of shares to be purchased       85.00%        
December 2022 Financing                
Class Of Stock [Line Items]                
Common stock issuance, Shares       126,815        
Common stock price per share       $ 5.52        
Voting Common Stock [Member]                
Class Of Stock [Line Items]                
Common stock, authorized shares       143,590,481 143,590,481   143,590,481  
Non-voting Common Stock [Member]                
Class Of Stock [Line Items]                
Common stock, authorized shares       6,409,519 6,409,519   6,409,519  
pre-funded warrants[Member] | December 2022 Financing                
Class Of Stock [Line Items]                
Common stock issuance, Shares       6,213,776        
Warrants exercised     1,811,594 271,739        
Common stock price per share       $ 5.51999        
Decrease in exercise price of Warrents       $ 0.00001        
Net proceeds from exercise of warrants       $ 32,562