Capital Structure - Schedule of Reserved Common Stock Converted Basis for Future Issuance (Details) - shares	Dec. 31, 2022	Dec. 31, 2021
Conversion Of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	7,483,830	6,168,355
Stock Options, Issued and Outstanding
Conversion Of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	5,341,975	4,254,504
Stock Options, Authorized for Future Issuance
Conversion Of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	1,446,872	1,134,944
Employee Stock Purchase Plan, Available for Future Issuance
Conversion Of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	402,747	284,993
Restricted Stock, Issued and Outstanding
Conversion Of Stock [Line Items]
Common Stock, Capital shares reserved for future issuance	292,236	493,914