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Stockholder's Equity - Schedule of Reserved Common Stock for Future Issuances (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for future issuance	15,632,099	13,159,736
Common stock options issued and outstanding
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for future issuance	4,705,390	4,819,906
Common stock available for future grant
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for future issuance	7,442,482	6,099,584
Restricted stock units outstanding
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for future issuance	1,853,657	1,014,123
Shares available for future purchase under ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for future issuance	1,630,570	1,226,123

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Aggregate number of common shares reserved for future issuance.

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