Income Taxes - Effective Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Taxes at the U.S. statutory tax rate	21.00%	21.00%	21.00%
Effect of Tax Act	0.00%	0.00%	1.10%
Change in valuation allowance	(25.10%)	(28.20%)	(4.00%)
Research tax credits	4.90%	4.10%	(9.20%)
Stock-based compensation	(0.50%)	3.20%	(7.90%)
Other	(0.40%)	0.10%	0.10%
Total provision for income taxes	(0.10%)	0.20%	1.10%