Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands				3 Months Ended				6 Months Ended
	Dec. 15, 2022	Nov. 08, 2022	Jul. 02, 2021	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 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	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	$ 0.0001
Preferred stock, par value (in dollars per share)											$ 0.0001
Preferred stock, shares outstanding (in shares)				0				0		0
Proceeds from issuance of common stock in public offerings, net of issuance costs								$ 60,547	$ 62,384
Public offering issuance costs				$ 977	$ 408	$ 1,184	$ 745
Expected dividend yield								0.00%
Unrecognized compensation cost, options				75,000				$ 75,000
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				12,300				$ 12,300
Restricted Stock Units (RSUs) | Weighted Average
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Compensation cost, period for recognition								3 years 7 months 6 days
Employee Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Compensation cost, period for recognition								6 months
Shares issued under ESPP (in shares)								81,005	48,760
Outstanding liability				$ 100				$ 100
Shares reserved for future issuance (in shares)				467,023				467,023
Expected term (in years)								6 months	6 months
Award offering period								6 months
Expected dividend yield								0.00%	0.00%
Unrecognized compensation cost, excluding options				$ 400				$ 400
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Compensation cost, period for recognition								2 years 7 months 6 days
Expected dividend yield								0.00%	0.00%
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued under ESPP (in shares)				81,000		49,000
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)									4,266,311
Proceeds from issuance of common stock in public offerings, net of issuance costs									$ 62,400
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)								4,107,810
Proceeds from issuance of common stock in public offerings, net of issuance costs								$ 60,500
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