Equity Incentive Plans - Activity of Stock Options (Details) - $ / shares	6 Months Ended
	Jun. 30, 2023
Options Outstanding
Beginning balance (in shares)	10,214,430
Options granted (in shares)	3,259,009
Options exercised (in shares)	(23,161)
Options cancelled and forfeited (in shares)	(159,766)
Ending balance (in shares)	13,290,512
Vested and exercisable (in shares)	6,109,830
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 13.90
Options granted (in usd per share)	4.38
Options exercised (in usd per share)	2.20
Options cancelled and forfeited (in usd per share)	11.69
Ending balance (in usd per share)	11.61
Vested and exercisable (in usd per share)	$ 8.80