Net Loss Per Share of Common Stock - Antidilutive Securities Excluding from Computation of Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net loss per share	4,106,213	3,755,421
Stock options
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net loss per share	1,903,341	2,009,513
Restricted stock units
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net loss per share	1,950,524	1,566,522
ESPP purchase rights
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net loss per share	134,226	61,264
Common stock warrants
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net loss per share	118,122	118,122