Equity Incentive Plan - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			1 Months Ended		3 Months Ended
	Jan. 01, 2024	Feb. 28, 2015	Nov. 30, 2023	Jul. 31, 2018	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total intrinsic value of options exercised					$ 13.8	$ 0.1
Dividend yield					0.00%	0.00%
Employee share purchase plan awards					0	0
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized Stock-Based Compensation Cost 3					$ 48.2
ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Annual increase in the number of shares available for issuance					1.00%
Maximum percentage of eligible compensation to purchase common stock through payroll deductions				20.00%
Unrecognized Stock-Based Compensation Cost 3					$ 2.6
ESPP | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation cost					$ 150.4
Weighted-average period of unrecognized stock-based compensation cost expected to be recognized over remaining period					2 years 2 months 12 days
Weighted-average period of unrecognized stock-based compensation cost expected to be recognized over remaining period 3					1 year 2 months 12 days
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average fair value of stock options granted to employees per share					$ 27.38	$ 12.29
Common Stock | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-Average Period of Unrecognized Stock-Based Compensation Cost Expected to be Recognized Over Remaining Period 2					3 years 6 months
Common Stock | ESPP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Plan expiration date					Jan. 01, 2028
Additional shares available for future issuance					3,408,761,000
Shares reserved for issuance, authorized					2,273,349
Additional shares available for future issuance	681,752
2021 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining shares available for future issuance					2,143,854
Additional shares available for future issuance							1,500,000
2021 Inducement Plan | Amended [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Remaining shares available for future issuance					5,000,000
2021 Inducement Plan | Common Stock | Amended [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Additional shares available for future issuance			7,500,000
2018 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Plan expiration period				2028-07
Plan expiration term				10 years
Vesting period				4 years
Remaining shares available for future issuance					2,884,010
Annual increase in the number of shares available for issuance					5.00%
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Plan expiration term		10 years
Vesting period		4 years