Stock-based Compensation - Schedule of Awarded Shares Vesting Period (Details) - 2017 Equity Incentive Plan - Common Stock	6 Months Ended
Jun. 30, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock expected to vest (in shares)	1,149,064
2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock expected to vest (in shares)	0
2024
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock expected to vest (in shares)	474,548
2025
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock expected to vest (in shares)	390,649
2026
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock expected to vest (in shares)	283,867

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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+ Details