Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance Under Equity Incentive Plans (Details)	Dec. 31, 2022 shares
Class Of Stock [Line Items]
Total reserved shares of common stock	24,649,033
2014 Equity Incentive Plan
Class Of Stock [Line Items]
Total reserved shares of common stock	18,781,047
2018 Inducement Plan
Class Of Stock [Line Items]
Total reserved shares of common stock	5,191,916
2014 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Total reserved shares of common stock	676,070