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Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares | Dec. 31, 2022 | Dec. 31, 2021
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Stockholders' Equity Note [Abstract] |  |
Stock options outstanding | 20,749,349 | 18,943,937
Restricted stock units outstanding | 3,167,000 |
Stock options available for grant | 985,000 |
Employee Stock Purchase Plan | 645,000 |
Shares of common stock underlying warrants | 8,548,000 |
Shares of common stock underlying convertible notes outstanding (see Note 8) | 9,819,000 |
Total shares reserved for future issuance | 43,913,000 |

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- Definition Common stock underlying warrants. + References No definition available. + Details
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- Definition Aggregate number of common shares reserved under employee stock purchase plan for future issuance. + References No definition available. + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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