Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total common stock reserved for future issuance	10,088,567	8,178,936
Stock Options Issued and Outstanding
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total common stock reserved for future issuance	7,317,199	5,102,501
Warrants for Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total common stock reserved for future issuance	1,366,141	1,366,141
Awards Available Under 2018 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total common stock reserved for future issuance	290,340	784,331
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total common stock reserved for future issuance	1,114,887	925,963