Loss per Share - Common Stock Excluded from Calculation of Diluted Net Loss Per Share (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] | ||||
| Total common stock equivalents (in shares) | 7,255,433 | 6,675,246 | 7,255,433 | 6,675,246 |
| Stock options | ||||
| Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] | ||||
| Total common stock equivalents (in shares) | 5,789,272 | 5,374,171 | 5,789,272 | 5,374,171 |
| Restricted stock units | ||||
| Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] | ||||
| Total common stock equivalents (in shares) | 1,415,219 | 1,240,486 | 1,415,219 | 1,240,486 |
| Employee stock purchase plan shares | ||||
| Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] | ||||
| Total common stock equivalents (in shares) | 50,942 | 60,589 | 50,942 | 60,589 |