Stockholders' Equity - Schedule of Reserve for Authorized but Unissued Shares of Common Stock (Details)	Dec. 31, 2022 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	7,155,915
Common stock options and restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	4,658,781
Common stock employee purchase plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares reserved for issuance (in shares)	2,497,134