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Summary of Significant Accounting Policies (Details) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Asset impairment charges | $ 5,390,000 |  | $ 5,390,000 |
Amount of antidilutive securities excluded from computation of earnings per share |  |  | 11,504,609 | 12,210,865
Loss on disposal of property and equipment | 0 | $ 0 | $ (463,000) | $ 0
Impairment expenses for property and equipment | 3,200,000 | 0 | 3,205,000 | 0
Impairment expenses for right of use assets | $ 2,200,000 | $ 0 | $ 2,185,000 | $ 0
Stock options (including shares subject to repurchase) |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Amount of antidilutive securities excluded from computation of earnings per share |  |  | 10,240,051 | 11,738,877
Unvested restricted stock units |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Amount of antidilutive securities excluded from computation of earnings per share |  |  | 1,146,499 | 409,500
Employee stock purchase plan |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Amount of antidilutive securities excluded from computation of earnings per share |  |  | 118,059 | 62,488
Computer hardware and software |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Useful life |  |  | 3 years |
Office equipment |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Useful life |  |  | 5 years |
Laboratory equipment |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Useful life |  |  | 5 years |
Furniture and fixtures |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |
Useful life |  |  | 7 years |

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