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Document and Entity Information - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2022
Mar. 27, 2023
Jun. 30, 2022
Cover [Abstract]      
Document Type 10-K    
Amendment Flag false    
Document Period End Date Dec. 31, 2022    
Document Fiscal Year Focus 2022    
Document Fiscal Period Focus FY    
Trading Symbol STRO    
Entity Registrant Name SUTRO BIOPHARMA, INC.    
Entity Central Index Key 0001382101    
Current Fiscal Year End Date --12-31    
Entity Filer Category Non-accelerated Filer    
Entity Well-known Seasoned Issuer No    
Entity Current Reporting Status Yes    
Entity Voluntary Filers No    
Entity Small Business true    
Entity Emerging Growth Company false    
Entity Shell Company false    
Entity File Number 001-38662    
Entity Tax Identification Number 47-0926186    
Entity Address, Address Line One 111 Oyster Point Blvd    
Entity Address, City or Town South San Francisco    
Entity Address, State or Province CA    
Entity Address, Postal Zip Code 94080    
City Area Code 650    
Local Phone Number 881-6500    
Entity Common Stock, Shares Outstanding   60,160,551  
Security Exchange Name NASDAQ    
Title of 12(b) Security Common stock, $0.001 par value    
Document Annual Report true    
Document Transition Report false    
Entity Incorporation, State or Country Code DE    
Entity Interactive Data Current Yes    
Entity Public Float     $ 250.7
Documents Incorporated by Reference

Portions of the registrant’s definitive proxy statement to be filed for its 2023 Annual Meeting of Stockholders are incorporated by reference into Part III hereof. Such proxy statement will be filed with the Securities and Exchange Commission within 120 days of the end of the fiscal year covered by this Annual Report on Form 10-K.

    
Auditor Firm ID 42    
Auditor Name Ernst & Young LLP    
Auditor Location San Mateo, California