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Stock Incentive Plans - Summary of Weighted-Average Assumptions Used to Estimated Fair Value of Share-Based Awards (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected term (in years) 6 months 6 months 6 months
Expected dividend yield 0.00% 0.00% 0.00%
Risk-free interest rate, minimum 2.51% 0.09% 0.17%
Risk-free interest rate, maximum 4.76% 0.19% 1.57%
Employee Stock Purchase Plan | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected volatility 67.79% 53.10% 62.56%
Employee Stock Purchase Plan | Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected volatility 77.88% 67.79% 93.17%
Shares of common stock subject to outstanding options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expected term (in years) 5 years 11 months 15 days 5 years 11 months 8 days 5 years 11 months 23 days
Expected volatility 77.62% 77.70% 75.56%
Risk-free interest rate 2.74% 0.80% 0.69%
Expected dividend yield 0.00% 0.00% 0.00%