Employee Stock Purchase Plan - Calculation Assumptions (Details) - $ / shares	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	3.47%	2.53%	3.42%	1.46%
Expected volatility	91.54%	85.91%	89.94%	85.91%
Expected term (in years)	5 years 6 months	5 years 6 months	5 years 6 months	5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	3.85%	3.38%	4.17%	3.38%
Expected volatility	99.29%	87.06%	99.29%	87.06%
Expected term (in years)	6 years 29 days	6 years 29 days	6 years 29 days	6 years 29 days
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Strike price (per share)		$ 11.66		$ 11.66
Risk-free interest rate		1.54%		1.54%
Risk-free interest rate, Minimum	4.40%		4.40%
Risk-free interest rate, Maximum	5.24%		5.24%
Expected volatility		92.59%		92.59%
Expected volatility, Minimum	105.68%		105.68%
Expected volatility, Maximum	176.11%		176.11%
Expected term (in years)	6 months		6 months	6 months
Expected dividend yield	0.00%	0.00%	0.00%	0.00%
Employee Stock Purchase Plan | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Strike price (per share)	$ 5.98		$ 5.98
Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Strike price (per share)	$ 11.40		$ 11.40