Net Loss Per Common Share (Details) - shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share
Common stock equivalents (in shares)	6,637,127	6,196,674	6,593,623	5,871,906
Shares of common stock subject to outstanding options
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share
Common stock equivalents (in shares)	3,812,208	4,043,274	3,850,675	3,902,116
Employee stock purchase plan
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share
Common stock equivalents (in shares)	31,947	39,177	33,455	40,094
Restricted stock units
Outstanding shares of common stock equivalents that have been excluded from diluted net loss per common share
Common stock equivalents (in shares)	2,792,972	2,114,223	2,709,493	1,929,696