Summary of Significant Accounting Policies - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares |
9 Months Ended | |
|---|---|---|
Sep. 30, 2023 |
Sep. 30, 2022 |
|
| Antidilutive Securities Excluded from Computation of Earnings Per Share | ||
| Antidilutive securities excluded from computation of loss per share | 11,114,903 | 11,381,036 |
| Options to purchase common stock | ||
| Antidilutive Securities Excluded from Computation of Earnings Per Share | ||
| Antidilutive securities excluded from computation of loss per share | 9,945,471 | 9,441,215 |
| Common stock subject to purchase under ESPP | ||
| Antidilutive Securities Excluded from Computation of Earnings Per Share | ||
| Antidilutive securities excluded from computation of loss per share | 80,543 | 102,772 |
| Unvested RSUs | ||
| Antidilutive Securities Excluded from Computation of Earnings Per Share | ||
| Antidilutive securities excluded from computation of loss per share | 1,088,889 | 1,837,049 |