Equity Incentive Plans and Stock-Based Compensation - Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Incentive Stock Options and Nonqualified Stock Options - 2015 Equity and 2020 Incentive Plan - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	82.66%	78.96%	80.97%	73.78%
Expected volatility, maximum	83.22%	79.53%	83.22%	79.53%
Risk-free interest rate, minimum	3.95%	2.86%	3.42%	1.64%
Risk-free interest rate, maximum	4.38%	3.59%	4.38%	3.59%
Expected dividend	0.00%	0.00%	0.00%	0.00%
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years	5 years 9 months 7 days	5 years 3 months 21 days	5 years 3 months 29 days
Underlying common stock fair value (USD per share)	$ 16.01	$ 7.67	$ 16.01	$ 4.92
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 29 days	6 years 29 days	6 years 29 days	6 years 29 days
Underlying common stock fair value (USD per share)	$ 18.80	$ 24.23	$ 34.65	$ 24.23