Stockholders' Equity - Summary of Stock-Based Compensation Expense (Details) - 2016 Equity Incentive Plans and Employee Stock Purchase Plan - 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	$ 1,709	$ 2,101
Research and Development
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]
Total stock-based compensation expense	777	701
General and Administrative
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]
Total stock-based compensation expense	$ 932	$ 1,400