Stockholders’ Equity and Stock Option Plans - Summary of Restricted Stock Units and Related Information (Details) - Unvested restricted stock units	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Number of Shares Underlying Outstanding Options
Unvested beginning balance (in shares) | shares	1,581,982
Granted (in shares) | shares	2,049,867
Vested (in shares) | shares	(95,825)
Canceled/Forfeited (in shares) | shares	(26,512)
Unvested ending balance (in shares) | shares	3,509,512
Weighted-Average Exercise Price
Unvested beginning balance (in usd per share) | $ / shares	$ 26.49
Granted (in usd per share) | $ / shares	16.07
Vested (in usd per share) | $ / shares	29.92
Canceled/Forfeited (in usd per share) | $ / shares	21.60
Unvested ending balance (in usd per share) | $ / shares	$ 20.35