Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share/Unit (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	9,362	5,796	3,858
Common stock options issued and outstanding
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	9,352	5,778	3,788
Common stock subject to repurchase or forfeiture
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	5	15	69
ESPP shares pending issuance
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total (in shares)	5	3	1