Stockholders' Equity - Schedule of Shares of Common Stock Available for Future Issuance (Details)	Sep. 30, 2023 shares
Class Of Stock [Line Items]
Total available for future issuance	14,282,486
Equity Incentive Plans
Class Of Stock [Line Items]
Total available for future issuance	1,848,784
Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total available for future issuance	1,220,897
Exercise of Warrants and Pre-funded Warrants
Class Of Stock [Line Items]
Total available for future issuance	11,212,805