Stock-Based Compensation - Summary of Stock-Based Compensation Expense (Details) - 2010 Plan, 2018 Plan and ESPP - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs Line Items
Total stock-based compensation expense	$ 11,047	$ 11,499
Research and Development
Employee Service Share Based Compensation Allocation Of Recognized Period Costs Line Items
Total stock-based compensation expense	6,439	6,607
General And Administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs Line Items
Total stock-based compensation expense	$ 4,608	$ 4,892