Stock Incentive Plans - Schedule of Assumptions (Details) - Shares available for future stock incentive awards - $ / 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]
Risk-free interest rate	3.38%	3.26%	3.95%	1.63%
Dividend yield	0.00%	0.00%	0.00%	0.00%
Expected term	6 years	6 years 18 days	5 years 11 months 8 days	6 years 10 days
Expected volatility	94.40%	92.03%	94.64%	91.85%
Weighted-average fair value of common stock (in dollars per share)	$ 1.31	$ 1.29	$ 1.15	$ 3.1