Net Loss Per Share - Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Numerator:
Net loss	$ (25,645)	$ (33,287)	$ (30,815)	$ (28,345)	$ (26,923)	$ (25,987)	$ (89,747)	$ (81,255)
Denominator:
Weighted average common shares outstanding	49,062,799			48,631,941			48,985,448	41,882,929
Less: weighted average unvested common stock issued upon early exercise of common stock options				(1,613)			(75)	(4,213)
Weighted average shares used to compute net loss per share, basic	49,062,799			48,630,328			48,985,373	41,878,716
Weighted average shares used to compute net loss per share, diluted	49,062,799			48,630,328			48,985,373	41,878,716
Net loss per share, basic	$ (0.52)			$ (0.58)			$ (1.83)	$ (1.94)
Net loss per share, diluted	$ (0.52)			$ (0.58)			$ (1.83)	$ (1.94)