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Stockholders' Equity - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Dec. 15, 2022
Nov. 08, 2022
Jul. 02, 2021
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Jun. 16, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Common stock, shares authorized (in shares)       400,000,000   400,000,000 400,000,000
Preferred stock, shares authorized (in shares)             40,000,000
Common stock, par value (in dollars per share)       $ 0.0001   $ 0.0001 $ 0.0001
Preferred stock, par value (in dollars per share)             $ 0.0001
Preferred stock, shares outstanding (in shares)       0   0  
Proceeds from issuance of common stock in public offerings, net of issuance costs       $ 22,441 $ 24,103    
Public offering issuance costs       $ 408 $ 745    
Expected dividend yield       0.00%      
Unrecognized compensation cost, options       $ 84,600      
Restricted Stock Units (RSUs)              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Award vesting period       4 years      
Compensation cost, period for recognition       4 years      
Unrecognized compensation cost, excluding options       $ 13,000      
Restricted Stock Units (RSUs) | Weighted Average              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Compensation cost, period for recognition       3 years 9 months 18 days      
Employee Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Compensation cost, period for recognition       2 months 12 days      
Shares issued under ESPP (in shares)       0 0    
Outstanding liability       $ 600      
Shares reserved for future issuance (in shares)       548,028      
Expected term (in years)       6 months      
Award offering period       6 months      
Unrecognized compensation cost, excluding options       $ 200      
Stock Options              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Compensation cost, period for recognition       2 years 9 months 18 days      
Expected dividend yield       0.00% 0.00%    
Private Placement, 2021 Sales Agreement | Cowen And Company, LLC              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Sale of common stock maximum aggregate offering price     $ 150,000        
Sale of stock number of shares issued in transaction (in shares)       1,519,941      
Proceeds from issuance of common stock in public offerings, net of issuance costs       $ 24,100      
Private Placement, 2022 Sales Agreement | Cowen And Company, LLC              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Sale of common stock maximum aggregate offering price   $ 200,000          
Sale of stock number of shares issued in transaction (in shares)       943,461      
Proceeds from issuance of common stock in public offerings, net of issuance costs       $ 22,400      
Follow-on Public Offering | Common Stock              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Sale of stock number of shares issued in transaction (in shares) 13,800,000            
Sale of stock, price per share (in dollars per share) $ 17.25            
Proceeds from the follow-on public offering, net of underwriting discounts, commissions and offering costs $ 223,800            
Public offering issuance costs $ 14,300