Quarterly report pursuant to Section 13 or 15(d)

Common Stock - Additional Information (Details)

v3.21.2
Common Stock - Additional Information (Details) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended
Oct. 01, 2021
Oct. 23, 2019
Oct. 31, 2019
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2021
Sep. 30, 2020
Jan. 01, 2021
Dec. 31, 2020
Oct. 30, 2019
Jan. 31, 2019
Class Of Stock [Line Items]                        
Common stock, authorized shares       150,000,000     150,000,000     150,000,000    
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 61 days written notice to the Company                  
Issuance and sale of common stock       $ 24,880,000 $ 7,665,000 $ 2,165,000            
Net proceeds             $ 34,710,000 $ (191,000)        
Unrecognized compensation cost related to unvested stock-based awards       $ 15,151,000     $ 15,151,000          
Unrecognized compensation cost, period for recognition             2 years 9 months 18 days          
2019 Plan                        
Class Of Stock [Line Items]                        
Shares reserved for issuance   2,342,288             962,511      
Increase in share reserved percentage   4.00%                    
Share-based compensation, number of shares available for grant       2,080,288     2,080,288          
2019 ESPP                        
Class Of Stock [Line Items]                        
Shares reserved for issuance   234,229             234,229      
Stock Options | 2018 Plan                        
Class Of Stock [Line Items]                        
Share-based compensation unvested number of shares       0     0          
Number of options granted             1,959,411          
Stock Options | 2019 Plan                        
Class Of Stock [Line Items]                        
Number of options granted             1,429,233          
Weighted average grant-date fair value of stock options granted             $ 7.68 $ 8.25        
Maximum | Stock Options | 2018 Plan                        
Class Of Stock [Line Items]                        
Share-based compensation, vesting period             4 years          
Minimum | 2019 ESPP                        
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%          
Minimum | Stock Options | 2018 Plan                        
Class Of Stock [Line Items]                        
Share-based compensation, vesting period             3 years          
ATM Program                        
Class Of Stock [Line Items]                        
Issuance of common stock, shares             3,606,005          
Net proceeds             $ 34,700,000          
Commissions             1,100,000          
ATM Program | Maximum                        
Class Of Stock [Line Items]                        
Issuance and sale of common stock             $ 75,000,000.0          
ATM Program | Subsequent Event                        
Class Of Stock [Line Items]                        
Number of additional shares sold 600,000                      
Net proceeds $ 6,300,000                      
Voting Common Stock                        
Class Of Stock [Line Items]                        
Common stock, authorized shares       143,590,481     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 6,409,519