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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Thousands |  |  | 3 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 26, 2018 | Sep. 25, 2018 | Mar. 31, 2023 | Mar. 31, 2022 | Feb. 28, 2023 | Jan. 01, 2023 | Dec. 31, 2022 | Aug. 31, 2022 | Aug. 04, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Reserved common stock |  |  | 16,726,655 |  |  |  | 13,804,406 |  |
Stock-based compensation expense |  |  | $ 6,021 | $ 6,974 |  |  |  |  |
Restricted Stock Units |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Restricted common stock granted |  |  | 2,223,725 |  |  |  |  |  |
Shares vesting period |  |  | 4 years |  |  |  |  |  |
2018 Equity Incentive Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Reserved common stock |  | 2,300,000 |  |  |  |  |  |  |
Annual increase period of common stock reserved for issuance |  | 10 years |  |  |  |  |  |  |
Maximum number of shares issuable |  |  |  |  |  | 2,874,977 |  |  |
2018 Equity Incentive Plan | Restricted Stock Units |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total unrecognized compensation cost related to unvested granted |  |  | $ 45,000 | $ 47,400 |  |  |  |  |
Remaining unrecognized compensation cost expected to be recognized over weighted-average period |  |  | 2 years 10 months 24 days | 3 years 3 months 18 days |  |  |  |  |
2018 Equity Incentive Plan | Employee Stock Options |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Total unrecognized compensation cost related to unvested granted |  |  | $ 18,000 | $ 25,400 |  |  |  |  |
Remaining unrecognized compensation cost expected to be recognized over weighted-average period |  |  | 2 years 4 months 24 days | 2 years 7 months 6 days |  |  |  |  |
2018 Equity Incentive Plan | Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized stock-based compensation expense |  |  | $ 500 | $ 400 |  |  |  |  |
2018 Equity Incentive Plan | Maximum |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Increase in stock reserved for issuance as percentage of capital stock outstanding on last day of preceding year |  | 5.00% |  |  |  |  |  |  |
2021 Equity Inducement Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Reserved common stock |  |  |  |  |  |  |  |  | 750,000
Amended and Restated 2021 Equity Inducement Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Reserved common stock |  |  | 2,000,000 |  | 500,000 |  |  | 750,000 |
2018 Equity Incentive Plan and 2021 Equity Inducement Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Shares available for grant |  |  | 1,705,910 |  |  |  |  |  |
2018 Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Reserved common stock | 230,000 |  |  |  |  |  |  |  |
Annual increase period of common stock reserved for issuance | 10 years |  |  |  |  |  |  |  |
Increase in stock reserved for issuance as percentage of capital stock outstanding on last day of preceding year | 1.00% |  |  |  |  |  |  |  |
Maximum number of shares issuable | 2,300,000 |  | 983,316 |  |  |  |  |  |
Shares available for grant |  |  | 1,201,930 |  |  |  |  |  |
Shares available for grant, increase |  |  |  |  |  | 574,995 |  |  |

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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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