Net Loss per Share - Summary of Equity Instruments Excluded from Computation of Diluted Net Loss Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Equity instruments excluded from computation of diluted net loss per share (in shares)	6,874	9,348
Stock Options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Equity instruments excluded from computation of diluted net loss per share (in shares)	6,842	9,259
RSAs
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Equity instruments excluded from computation of diluted net loss per share (in shares)	0	89
RSUs
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Equity instruments excluded from computation of diluted net loss per share (in shares)	25	0
ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Equity instruments excluded from computation of diluted net loss per share (in shares)	7	0