Stock-Based Compensation - Additional Information (Details) - USD ($) shares in Thousands, $ in Thousands			1 Months Ended	12 Months Ended
	Jan. 01, 2024	Jan. 01, 2019	Mar. 31, 2018	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares outstanding (in shares)				75,500	72,900
Intrinsic value of shares exercised				$ 3,000	$ 26,000	$ 17,000
Expected term (in years)				10 years
2020 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total shares of authorized common stock reserved for future issuance (in shares)				3,200
2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total shares of authorized common stock reserved for future issuance (in shares)				3,800
2018 Equity Incentive Plan | Subsequent Event
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for issuance under evergreen provision (in shares)	3,000
2018 Equity Incentive Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for issuance under evergreen provision (in shares)		3,600
Percentage of common stock outstanding		4.00%
2018 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total shares of authorized common stock reserved for future issuance (in shares)				2,400
Purchase date of fair market value trading days			24 months
Percentage of common stock shares outstanding		1.00%
2018 Employee Stock Purchase Plan | Subsequent Event
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares of common stock reserved for issuance under evergreen provision (in shares)	800
2018 Employee Stock Purchase Plan | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase price of common stock as percentage of market value			85.00%
Number of shares purchased on each purchase date (in shares)			3
Number of shares purchased in a calendar year (in shares)			$ 25
Common stock, shares outstanding (in shares)		1,100
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation costs related to non-vested stock option awards				$ 73,000
Non-vested stock option recognized weighted average period				2 years 2 months 12 days
Awards expiration period				10 years
Expected term (in years)				6 years 7 days	6 years 7 days	6 years 7 days
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation costs related to non-vested awards other than options				$ 35,000
Non-vested stock option recognized weighted average period				2 years 4 months 24 days
Share-based compensation arrangement by share-based payment award, award vesting period				4 years
Total grant date fair value of shares vested				$ 13,000	$ 12,000	$ 12,000