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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 | 9 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 26, 2018 | Sep. 25, 2018 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 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 |  |  | 16,079,586 |  | 16,079,586 |  |  |  | 13,804,406 |  |
Stock-based compensation expense |  |  | $ 6,003 | $ 6,782 | $ 18,685 | $ 20,452 |  |  |  |  |
Restricted Stock Units |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Restricted common stock granted |  |  |  |  | 2,629,225 |  |  |  |  |  |
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 |  |  | 34,700 | 39,600 | $ 34,700 | $ 39,600 |  |  |  |  |
Remaining unrecognized compensation cost expected to be recognized over weighted-average period |  |  |  |  | 2 years 4 months 24 days | 2 years 10 months 24 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 |  |  | 12,900 | 18,700 | $ 12,900 | $ 18,700 |  |  |  |  |
Remaining unrecognized compensation cost expected to be recognized over weighted-average period |  |  |  |  | 2 years 1 month 6 days | 2 years 4 months 24 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 |  |  | $ 600 | $ 500 | $ 600 | $ 500 |  |  |  |  |
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 |  | 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 |  |  | 1,903,250 |  | 1,903,250 |  |  |  |  |  |
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 |  | 1,270,335 |  | 1,270,335 |  |  |  |  |  |
Shares available for grant |  |  | 914,911 |  | 914,911 |  |  |  |  |  |
Shares available for grant, increase |  |  |  |  |  |  |  | 574,995 |  |  |

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