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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