Summary of Significant Accounting Policies (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Jan. 01, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Amount of antidilutive securities excluded from computation of earnings per share	12,210,865	9,869,520
Operating lease liability	$ 27,289
Right-of-use assets	$ 19,890
Accounting Standards Update 2016-02
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Operating lease liability			$ 27,300
Right-of-use assets			$ 20,400
Stock options (including shares subject to repurchase)
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Amount of antidilutive securities excluded from computation of earnings per share	11,738,877	9,581,659
Unvested restricted stock units
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Amount of antidilutive securities excluded from computation of earnings per share	409,500	238,333
Employee stock purchase plan
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Amount of antidilutive securities excluded from computation of earnings per share	62,488	49,528