Equity Incentive Plans and Stock-Based Compensation - Restricted Stock Units and Performance-Based Restricted Stock Units - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions	6 Months Ended
Jun. 30, 2023	Dec. 31, 2022
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost	$ 24.2
Unrecognized compensation expense, weighted average period	2 years 3 months 18 days
Outstanding and unvested (in shares)	1,160,986	507,925
Weighted-average grant date fair value, outstanding and unvested (USD per share)	$ 27.31	$ 17.43
Restricted stock units \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	2 years
Restricted stock units \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	3 years
Performance-based restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	2 years
Unrecognized compensation cost	$ 6.0
Unrecognized compensation expense, weighted average period	11 months 26 days
Target level of achievement percentage	100.00%
Performance-based restricted stock units \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting rights, percentage	0.00%
Performance-based restricted stock units \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting rights, percentage	200.00%
Performance-Based Restricted Stock Units, TSR Goal
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding and unvested (in shares)	354,532
Weighted-average grant date fair value, outstanding and unvested (USD per share)	$ 29.15
Performance-Based Restricted Stock Units, Clinical Development Milestones
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding and unvested (in shares)	354,532
Weighted-average grant date fair value, outstanding and unvested (USD per share)	$ 17.57

Share-Based Compensation Arrangement By Share-Based Payment Award, Target Level Of Achievement Percentage

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for option under share-based payment arrangement.

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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