Convertible Preferred Stock and Stockholders' Equity - Stock option activity under all equity and stock option plans (Details) - Employee And Non Employee Stock Option	6 Months Ended
	Jun. 30, 2023 $ / shares shares
Number of Options
Balance at the beginning of the period | shares	7,267,226
Granted | shares	5,430,000
Exercised | shares	(93,787)
Cancelled | shares	(1,106,618)
Balance at the end of the period | shares	11,496,821
Weighted-Average Price
Balance at the beginning of the period | $ / shares	$ 22.37
Granted | $ / shares	6.69
Exercised | $ / shares	3.24
Cancelled | $ / shares	35.85
Balance at the end of the period | $ / shares	$ 13.82