Stock-Based Compensation - Summary of Option Activity (Details) - 2006 Plan and 2016 Plan - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
Jun. 30, 2023	Dec. 31, 2022
Number of Shares
Beginning balance (in shares)	4,232,210
Granted (in shares)	944,776
Expired (in shares)	(130,417)
Ending balance (in shares)	5,046,569	4,232,210
Exercisable at end of period (in shares)	3,321,471
Vested and expected to vest at end of period (in shares)	4,763,321
Weighted Average Exercise Price at Grant Date
Beginning balance (in dollars per share)	$ 14.19
Granted (in dollars per share)	6.92
Expired (in dollars per share)	12.38
Ending balance (in dollars per share)	12.88	$ 14.19
Exercisable at end of period (in dollars per share)	14.26
Vested and expected to vest at end of period (in dollars per share)	$ 13.15
Weighted Average Remaining Term (Years)
Outstanding	6 years 2 months 12 days	5 years 9 months 21 days
Exercisable at end of period	4 years 9 months 3 days
Vested and expected to vest at end of period	6 years 3 days
Aggregate Intrinsic Value
Beginning balance	$ 0
Ending balance	26	$ 0
Exercisable at end of period	0
Vested and expected to vest at end of period	$ 20

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Period Type:	instant

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.