Equity Incentive Plans - Stock Options (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Options issued and outstanding balance, beginning (shares)	10,417,000
Options granted (shares)	5,392,000
Options exercised (shares)	(14,000)
Options canceled (shares)	(1,832,000)
Options issued and outstanding balance, ending (shares)	13,963,000
Options vested and expected to vest (shares)	13,963,000
Options exercisable (shares)	8,283,000
Weighted-Average Exercise Price  per Share
Options issued and outstanding balance, beginning (in dollars per share) | $ / shares	$ 7.00
Options granted (in dollars per share) | $ / shares	0.96
Options exercised (in dollars per share) | $ / shares	0.99
Options canceled (in dollars per share) | $ / shares	5.80
Options issued and outstanding balance, ending (in dollars per share) | $ / shares	4.83
Options vested and expected to vest (in dollars per share) | $ / shares	4.83
Options exercisable (in dollars per share) | $ / shares	$ 6.32
Weighted Average Remaining Contractual Term (in Years)
Options issued and outstanding (in years)	7 years 3 months 18 days
Options vest and expected to vest (in years)	7 years 3 months 18 days
Options exercisable (in years)	6 years 3 months 18 days
Aggregate Intrinsic Value
Options issued and outstanding | $	$ 10,156
Options vested and expected to vest | $	10,156
Options exercisable | $	$ 2,727
Stock options
Shares Available for Grant
Shares available for grant, beginning (shares)	4,974,000
Shares available for grant, effect of authorized (shares)	10,207,000
Shares available for grant, effect of granted (shares)	(5,392,000)
Shares available for grant, effect of canceled (shares)	1,832,000
Shares available for grant, effect of shares issued for services (shares)	(712,000)
Shares available for grant, ending (shares)	10,909,000