Stockholders Equity (Deficit) - Summary of Common Stock Reserved For Future Issuance (Details) - shares		Dec. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Conversion of preferred stock		10,951,460	6,878,511
Equity Plans [Member]
Class Of Stock [Line Items]
Conversion of preferred stock		6,339,558	5,754,005
Restricted Stock Units (RSUs) [Member]
Class Of Stock [Line Items]
Conversion of preferred stock		492,862	640,479
Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Conversion of preferred stock		664,976	484,027
Shares available for future sale under the at-the-market offering [Member]
Class Of Stock [Line Items]
Conversion of preferred stock	[1]	3,454,064

[1] (1) Based on the closing stock price of $12.67 as reported on the Nasdaq Global Market on December 30, 2022.