Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended			3 Months Ended		9 Months Ended
	Jun. 10, 2021	Jul. 31, 2023	May 31, 2023	Aug. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Jun. 30, 2021
Class Of Stock [Line Items]
Common stock, shares issued					46,168,430		46,168,430		41,684,666
Maximum exercisable prefunded warrants percentage with common stock					19.90%		19.90%
Common stock reserved for issuance					14,928,438		14,928,438		12,173,923
Weighted average grant date fair value per share of option grants							$ 10.09	$ 12.52
Total Intrinsic value of stock options exercised							$ 1,900	$ 100
Unrecognized stock-based compensation cost					$ 40,000		$ 40,000
Unrecognized stock-based compensation cost, weighted-average period of recognition							2 years 3 months 18 days
Percentage of number of common stock shares	1.00%
Aggregate offering price of common stock					46		$ 46		$ 42
Termination of sale agreement month and year			2023-05
BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock					$ 150,000		$ 150,000
2017 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for issuance										1,424,110
2021 Equity Incentive Plan
Class Of Stock [Line Items]
Shares authorized for issuance					8,991,993		8,991,993
Common stock initially reserved for issuance										2,775,890
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock initially reserved for issuance	466,000
Unrecognized stock-based compensation cost					$ 500		$ 500
Unrecognized stock-based compensation cost, weighted-average period of recognition							1 year 3 months 18 days
Percentage of eligible earnings withheld to purchase shares of common stock	15.00%
Fair market value percentage price of common stock purchased	85.00%
Minimum increase in shares reserved for issuance							932,000
Stock-based compensation expense					$ 200	$ 200	$ 700	$ 400
Maximum
Class Of Stock [Line Items]
Securities issuable				$ 400,000
Maximum | Jefferies Group LLC [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock				$ 100,000
Maximum | BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock			$ 150,000
Underwritten Offering
Class Of Stock [Line Items]
Common stock, shares issued		4,153,717
Price of common stock sold per share		$ 12.46
Underwritten Offering | Pre-funded Warrants
Class Of Stock [Line Items]
Warrants to purchase shares of common stock		583,483
Price of warrants sold per share		$ 12.459
Gross proceeds from issuance of common stock		$ 59,000
Aggregate fees amount related to offering included in underwriting discounts commissions and offering expenses		2,500
Net proceeds after deducting underwriting discounts and commissions, and offering expenses		$ 56,500