Equity Incentive Plans - Schedule of Stock Option Activity (Details) - $ / shares	9 Months Ended
Sep. 30, 2023
Options Outstanding
Beginning balance (in shares)	10,214,430
Options granted (in shares)	3,289,469
Options exercised (in shares)	(37,234)
Options cancelled and forfeited (in shares)	(844,625)
Ending balance (in shares)	12,622,040
Vested and exercisable (in shares)	6,680,980
Weighted-Average Exercise Price
Beginning balance (in usd per share)	$ 13.90
Options granted (in usd per share)	4.39
Options exercised (in usd per share)	2.48
Options cancelled and forfeited (in usd per share)	9.65
Ending balance (in usd per share)	11.74
Vested and exercisable (in usd per share)	$ 8.82

No definition available.

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

+ References

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- Definition

For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

+ References

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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