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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Stockholders Equity [Line Items]
Reserved common stock	16,079,586	13,804,406
Common Stock Options Issued and Outstanding
Stockholders Equity [Line Items]
Reserved common stock	7,920,561	7,310,611
Common Stock Awards Issued and Outstanding
Stockholders Equity [Line Items]
Reserved common stock	5,213,248	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	1,903,250	1,541,706
Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan
Stockholders Equity [Line Items]
Reserved common stock	914,911	865,995
Warrants to Purchase Common Stock
Stockholders Equity [Line Items]
Reserved common stock	127,616	127,616

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Stockholders equity.

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Aggregate number of common shares reserved for future issuance.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.29)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

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