Annual report pursuant to Section 13 and 15(d)

Common Stock - Additional Information (Details)

v3.24.1
Common Stock - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 2 Months Ended 12 Months Ended
Oct. 31, 2019
Oct. 23, 2019
May 31, 2023
Dec. 31, 2022
Mar. 08, 2024
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2020
Jan. 01, 2024
Jun. 01, 2023
Jan. 01, 2023
Oct. 30, 2019
Jan. 31, 2019
Class Of Stock [Line Items]                          
Common stock, authorized shares       150,000,000   150,000,000 150,000,000            
Common stock issuance           $ 185,495              
Non-voting 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           185,202 $ 32,855            
Debt issuance commissions           $ 8,647 $ 2,438            
Shares available for issuance           2,767,184              
Weighted average grant-date fair value of stock options granted           $ 9.51 $ 2.15            
Unrecognized compensation cost related to unvested stock-based awards           $ 25,807              
Unrecognized compensation cost, weighted average period for recognition           2 years 8 months 12 days              
At-The-Market Offering Sales Agreement                          
Class Of Stock [Line Items]                          
Common stock issuance, shares           4,760,899              
Proceeds from issuance of common stock, net of issuance costs           $ 91,740              
Common stock, par value           $ 0.00001              
Common stock dividends, shares           4,792,562              
Debt issuance commissions           $ 2,352              
At-The-Market Offering Sales Agreement | Subsequent Event                          
Class Of Stock [Line Items]                          
Common stock issuance, shares         258,070                
Proceeds from issuance of common stock, net of issuance costs         $ 5,746                
Debt issuance commissions         $ 147                
At-The-Market Offering Sales Agreement | Maximum                          
Class Of Stock [Line Items]                          
Common stock issuance           $ 100,000              
2018 Plan | Employee Stock Option                          
Class Of Stock [Line Items]                          
Share-based compensation unvested number of shares               0          
Number of options granted               1,959,411          
2018 Plan | Maximum | Employee Stock Option                          
Class Of Stock [Line Items]                          
Share-based compensation, vesting period               4 years          
2018 Plan | Minimum | Employee Stock Option                          
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%                      
2019 Plan | Subsequent Event                          
Class Of Stock [Line Items]                          
Shares reserved for issuance                 1,912,929        
2019 Plan | Employee Stock Option                          
Class Of Stock [Line Items]                          
Number of options granted           2,707,650              
2019 ESPP                          
Class Of Stock [Line Items]                          
Common stock issuance, shares           372,315              
Shares reserved for issuance   234,229                 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              
Percentage of shares to be purchased           85.00%              
May 2023 Financing                          
Class Of Stock [Line Items]                          
Common stock issuance, shares     8,337,500                    
May 2023 Financing | Employee Stock Option                          
Class Of Stock [Line Items]                          
Additional options to be purchased by underwriters     1,087,500                    
December 2022 Financing                          
Class Of Stock [Line Items]                          
Common stock issuance, shares       126,815                  
Common stock price per share       $ 5.52     $ 5.52            
Voting Common Stock                          
Class Of Stock [Line Items]                          
Common stock, authorized shares       143,590,481   143,590,481 143,590,481         143,590,481  
Common stock, par value       $ 0.00001   $ 0.00001 $ 0.00001            
Voting Common Stock | 2019 Plan                          
Class Of Stock [Line Items]                          
Shares reserved for issuance                   3,000,000      
Non-voting Common Stock                          
Class Of Stock [Line Items]                          
Common stock, authorized shares       6,409,519   6,409,519 6,409,519         6,409,519  
Common stock, par value       $ 0.00001   $ 0.00001 $ 0.00001            
Pre-funded Warrants | May 2023 Financing                          
Class Of Stock [Line Items]                          
Warrants exercised     6,295                    
Decrease in exercise price of Warrents     $ 12                    
Net proceeds from exercise of warrants     $ 93,755                    
Pre-funded Warrants | December 2022 Financing                          
Class Of Stock [Line Items]                          
Common stock issuance, shares       6,213,776                  
Warrants exercised           5,045,722              
Warrants outstanding           1,168,054              
Common stock price per share       $ 5.51999     $ 5.51999            
Decrease in exercise price of Warrents       $ 0.00001                  
Net proceeds from exercise of warrants             $ 32,562