Net Loss Per Share - Schedule of Potentially Dilutive Common Stock Equivalents (Details) - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potentially dilutive common stock equivalents (in shares)	11,402,894	8,534,527	11,402,894	7,456,794
Stock options
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potentially dilutive common stock equivalents (in shares)	8,619,112	7,089,833	8,619,112	7,089,833
RSAs, RSUs, and PSUs
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potentially dilutive common stock equivalents (in shares)	2,783,782	1,444,694	2,783,782	366,961
Performance Shares
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Potentially dilutive common stock equivalents (in shares)	1,077,726	1,395,596	1,077,726	1,395,596