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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares | Mar. 31, 2023 | Dec. 31, 2022
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Stockholders Equity [Line Items] |  |
Reserved common stock | 16,726,655 | 13,804,406
Common Stock Options Issued and Outstanding |  |
Stockholders Equity [Line Items] |  |
Reserved common stock | 8,336,599 | 7,310,611
Common Stock Awards Issued and Outstanding |  |
Stockholders Equity [Line Items] |  |
Reserved common stock | 5,354,600 | 3,958,478
Remaining Shares Reserved for Issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan |  |
Stockholders Equity [Line Items] |  |
Reserved common stock | 1,705,910 | 1,541,706
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan |  |
Stockholders Equity [Line Items] |  |
Reserved common stock | 1,201,930 | 865,995
Warrants to Purchase Common Stock |  |
Stockholders Equity [Line Items] |  |
Reserved common stock | 127,616 | 127,616

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