Net Loss Per Share - Summary of Weighted Average Potentially Dilutive Shares are Excluded from Calculation of Diluted Earnings Per Share (Details) - shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share (in shares)	14,191,239	14,402,567
Restricted stock units and restricted stock awards subject to future vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share (in shares)	8,213,933	6,631,968
Shares issuable pursuant to the ESPP
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share (in shares)	388,999	520,485
Shares of common stock issuable from stock options
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Weighted-average potentially dilutive shares are excluded from calculation of diluted earnings per share (in shares)	5,588,307	7,250,114