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Stock-Based Compensation - Schedule of Assumptions Used to Calculate Fair Value and the Weighted-Average Grant Date Fair Value of Stock Options Granted (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 10 years    
Employee Stock Option      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Weighted average closing price of our common stock on grant date $ 30.37 $ 33.03 $ 17.36
Risk-free interest rate, minimum 2.40% 1.00% 0.40%
Risk-free interest rate, maximum 4.00% 1.40% 0.50%
Expected term (in years) 6 years 7 days 6 years 7 days 6 years 7 days
Volatility, minimum 76.50% 75.30% 76.50%
Volatility, maximum 79.30% 77.60% 78.50%
Dividend yield 0.00% 0.00% 0.00%
Weighted average fair value of stock options granted $ 20.75 $ 22.05 $ 11.57
ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Risk-free interest rate, minimum 1.60% 0.00% 0.10%
Risk-free interest rate, maximum 4.70% 0.60% 0.20%
Volatility, minimum 68.90% 61.20% 66.60%
Volatility, maximum 82.50% 95.70% 136.00%
Dividend yield 0.00% 0.00% 0.00%
Minimum | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 6 months 6 months 6 months
Maximum | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 2 years 2 years 2 years