Summary of Significant Accounting Policies - Schedule of Potentially Dilutive Securities not Included in Calculation of Diluted Net Loss Per Share (Details) - shares shares in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	14,086	9,120
Common stock options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	12,526	9,093
Restricted stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	701	0
Performance stock units
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	750	0
Employee Stock Purchase Plan shares pending issuance
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Total	109	27