Shareholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended		9 Months Ended
	Aug. 31, 2023	Mar. 31, 2023	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Aug. 01, 2023	May 11, 2023	Dec. 31, 2022	Jul. 02, 2021	Jul. 02, 2020	Jun. 11, 2018
Class of Stock [Line Items]
Exercise price of warrants (USD per share)							$ 27.799
Proceeds from sale of stock	$ 332,500	$ 155,000
Common stock, par value (USD per share)			$ 0.001		$ 0.001				$ 0.001
Proceeds from issuance of common stock from employee stock purchase plan					$ 3,328	$ 995
Employee Stock Purchase Plan, Shares Reserved for Future Issuance								750,000
Minimum
Class of Stock [Line Items]
Ownership of Stock Percentage	499.00%
Maximum
Class of Stock [Line Items]
Ownership of Stock Percentage	999.00%
Common Stock
Class of Stock [Line Items]
Issuance of common stock, net of issuance costs (shares)	11,288,336		11,288,336	1,880,097	11,288,336	1,880,097
Sale price of common stock (USD per share)							$ 27.80
Issuance of common stock under equity incentive plans (shares)			483,741	96,041	863,062	301,877
Proceeds from stock options exercised			$ 2,200	$ 2,100	$ 4,400	$ 5,000
Proceeds from issuance of common stock from employee stock purchase plan					$ 3,300	$ 1,000
At the Market Facility
Class of Stock [Line Items]
Stock issued in transaction (shares)			0	0	0	0
Common stock, par value (USD per share)											$ 0.001
Aggregate offering price											$ 200,000
Excess Stock, Shares Issued			1,880,097		1,880,097
Amended and Restated At the Market Facility
Class of Stock [Line Items]
Common stock, par value (USD per share)										$ 0.001
Aggregate offering price										$ 500,000
Private Placement
Class of Stock [Line Items]
Number of warrants outstanding (shares)			8,727,547		8,727,547
Private Placement | Class of Warrants Issued August 11, 2023
Class of Stock [Line Items]
Number of warrants outstanding (shares)			1,121,736		1,121,736		1,121,736
Exercise price of warrants (USD per share)												$ 0.001