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Stock-based Compensation - Summary of Common Stock Reserved for Future Issuance (Details) - shares | Mar. 31, 2023 | Dec. 31, 2022
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Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 43,208,831 | 34,381,274
Stock Options Issued and Outstanding |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 25,892,271 | 17,393,396
Awards Available for Future Grant |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 14,846,946 | 16,022,747
Shares Available for Purchase Under ESPP |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Common stock reserved for future issuance | 2,469,614 | 965,131

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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