Equity Incentive Plans and Stock-Based Compensation - Summary of Restricted Stock Activity (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding and unvested, beginning balance (in shares) | shares	507,925
Granted (in shares) | shares	671,708
Forfeited (in shares) | shares	(11,097)
Outstanding and unvested, ending balance (in shares) | shares	1,168,536
Weighted Average Grant Date Fair Value
Weighted-Average Grant Date fair value, Outstanding and unvested, beginning balance (USD per share) | $ / shares	$ 17.43
Weighted-Average Grant Date fair value, Issued (USD per share) | $ / shares	34.65
Weighted- Average Exercise Price per Share, Forfeited (USD per share) | $ / shares	20.19
Weighted-Average Grant Date fair value, Outstanding and unvested, ending balance (USD per share) | $ / shares	$ 27.30
Performance-Based Restricted Stock Units, TSR Goal
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding and unvested, ending balance (in shares) | shares	354,532
Weighted Average Grant Date Fair Value
Weighted-Average Grant Date fair value, Outstanding and unvested, ending balance (USD per share) | $ / shares	$ 29.15
Performance-Based Restricted Stock Units, Clinical Development Milestones
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Outstanding and unvested, beginning balance (in shares) | shares	177,266
Granted (in shares) | shares	0
Adjustment for expected performance achievement (in shares) | shares	354,532
Vested (in shares) | shares	(177,266)
Outstanding and unvested, ending balance (in shares) | shares	354,532
Weighted Average Grant Date Fair Value
Weighted-Average Grant Date fair value, Outstanding and unvested, beginning balance (USD per share) | $ / shares	$ 17.57
Weighted-Average Grant Date fair value, Issued (USD per share) | $ / shares	17.57
Weighted Average Grant Date Fair Value , adjustment for expected performance achievement (USD per share) | $ / shares	17.57
Weighted-Average Grant Date fair value, Vested (USD per share) | $ / shares	17.57
Weighted-Average Grant Date fair value, Outstanding and unvested, ending balance (USD per share) | $ / shares	$ 17.57