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Equity Incentive Plans and Stock-Based Compensation - Summary of Fair Value of Stock Option Grants (Details)	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Class Of Stock [Line Items]
Dividend yield	0.00%	0.00%
Minimum
Class Of Stock [Line Items]
Risk-free rate of interest	3.50%	1.60%
Expected term (years)	5 years 2 months 12 days	5 years 1 month 6 days
Expected stock price volatility	87.00%	82.30%
Maximum
Class Of Stock [Line Items]
Risk-free rate of interest	4.30%	3.60%
Expected term (years)	6 years 1 month 6 days	6 years 1 month 6 days
Expected stock price volatility	92.30%	90.40%

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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