Stockholders' Equity - Schedule of Number of Common Stock Reserved for Future Issuance (Details) - shares	Mar. 31, 2023	Dec. 31, 2022
Stockholders' Equity Note [Abstract]
Stock options, issued and outstanding	5,972,087	5,802,317
Restricted stock units	350,814	401,180
Stock options and restricted stock units, future issuance	2,808,852	1,310,601
Employee stock purchase plan, available for future grants	1,539,855	1,109,032
Pre-funded warrants	1,334,332	1,334,332
Total	12,005,940	9,957,462