Stock-Based Awards - Summary of Assumptions Used for Estimating the Fair Value of Stock Options Granted (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected stock price volatility, minimum	99.60%	103.80%	99.60%	103.80%
Expected stock price volatility, maximum	101.50%	110.50%	101.50%	111.20%
Risk-free interest rate, minimum	3.50%	2.80%	3.40%	1.60%
Risk-free interest rate, maximum	3.90%	3.30%	4.10%	3.30%
Expected dividend yield (percentage)	0.00%	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of options (in years)	5 years 6 months	5 years 3 months 18 days	5 years 6 months	5 years 3 months 18 days
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term of options (in years)	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days