Net Loss Per Share Attributable to Common Stockholders - Summary of 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	$ (22,485)	$ (55,314)	$ (23,934)	$ (24,682)	$ (25,936)	$ (25,835)	$ (101,733)	$ (76,453)
Denominator:
Weighted-average common shares outstanding	57,977,907			58,189,211			58,064,472	58,085,711
Less: weighted-average unvested restricted shares and shares subject to repurchase	(720,666)			(2,983,072)			(1,315,477)	(3,494,118)
Weighted-average shares used to compute basic net loss per share attributable to common stockholders	57,257,241			55,206,139			56,748,995	54,591,593
Weighted-average shares used to compute diluted net loss per share attributable to common stockholders	57,257,241			55,206,139			56,748,995	54,591,593
Net loss per share attributable to common stockholders-basic	$ (0.39)			$ (0.45)			$ (1.79)	$ (1.4)
Net loss per share attributable to common stockholders-diluted	$ (0.39)			$ (0.45)			$ (1.79)	$ (1.4)