Equity Incentive Plans - Activity of Stock Options (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Options Outstanding
Beginning balance (in shares) | shares	10,214,430
Options granted (in shares) | shares	2,247,900
Options exercised (in shares) | shares	(13,595)
Options cancelled and forfeited (in shares) | shares	(101,825)
Ending balance (in shares) | shares	12,346,910
Vested and exercisable (in shares) | shares	5,241,662
Weighted Average Exercise Price
Beginning balance (in usd per share) | $ / shares	$ 13.90
Options granted (in usd per share) | $ / shares	4.60
Options exercised (in usd per share) | $ / shares	2.20
Options cancelled and forfeited (in usd per share) | $ / shares	12.77
Ending balance (in usd per share) | $ / shares	12.23
Vested and exercisable (in usd per share) | $ / shares	$ 8.76