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Stock-Based Compensation - Valuation of Stock Options (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Stock options issued and outstanding        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Risk-free interest rate   2.90%    
Expected dividend yield 0.00% 0.00% 0.00% 0.00%
Stock options issued and outstanding | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years) 5 years 11 months 19 days 5 years 11 months 8 days 5 years 6 months 5 years 6 months
Expected volatility 69.40% 66.80% 69.40% 63.30%
Risk-free interest rate 4.20%   3.40% 1.90%
Stock options issued and outstanding | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)   6 years 7 days 6 years 1 month 6 days 6 years 1 month 6 days
Expected volatility   67.30% 70.50% 67.30%
Risk-free interest rate     4.20% 3.40%
Shares available for issuance under the 2018 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected term (in years)     6 months 6 months
Expected volatility     76.60% 92.00%
Risk-free interest rate     5.20% 1.50%
Expected dividend yield     0.00% 0.00%