Net Loss Per Share Attributable to Common Stockholders - Schedule of Anti-dilutive Outstanding Shares or Equivalents (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	10,690,909	9,930,793
Options To Purchase Common Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	7,755,303	5,056,743
Common Stock Subject To Vesting Or Repurchase
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	2,767,526	4,774,798
Employee Stock Purchase Plan shares
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Anti-dilutive outstanding shares or equivalents	168,080	99,252