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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Expected term (in years) 10 years    
Stock Options      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Weighted average closing price of our common stock on grant date (in dollars per share) $ 21.21 $ 30.37 $ 33.03
Risk-free interest rate, minimum 3.60% 2.40% 1.00%
Risk-free interest rate, maximum 4.60% 4.00% 1.40%
Expected term (in years) 6 years 7 days 6 years 7 days 6 years 7 days
Volatility, minimum 77.70% 76.50% 75.30%
Volatility, maximum 79.10% 79.30% 77.60%
Dividend yield 0.00% 0.00% 0.00%
Weighted average fair value of stock options granted (in dollars per share) $ 14.81 $ 20.75 $ 22.05
ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Risk-free interest rate, minimum 4.30% 1.60% 0.00%
Risk-free interest rate, maximum 5.40% 4.70% 0.60%
Volatility, minimum 61.10% 68.90% 61.20%
Volatility, maximum 86.90% 82.50% 95.70%
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