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Equity Incentive Plans - Estimated Fair Value of Stock Offered Under ESPP (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Volatility, Minimum 86.20% 81.90% 85.20%
Volatility, Maximum 95.10% 88.00% 89.80%
Risk-free interest rate, Minimum 1.60% 0.63% 0.31%
Risk-free interest rate, Maximum 2.90% 1.36% 1.69%
Minimum      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Term in years 5 years 3 months 18 days 5 years 3 months 18 days 5 years 3 months 18 days
Maximum      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Term in years 6 years 1 month 6 days 6 years 1 month 6 days 6 years 1 month 6 days
Employee Stock Purchase Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Term in years 6 months 6 months  
Volatility, Minimum 109.30% 103.10% 54.30%
Volatility, Maximum 142.90% 126.60% 125.50%
Risk-free interest rate, Minimum 2.25% 0.04% 0.08%
Risk-free interest rate, Maximum 4.78% 0.11% 1.59%
Employee Stock Purchase Plan | Minimum      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Term in years     2 months 26 days
Employee Stock Purchase Plan | Maximum      
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]      
Term in years     6 months