Stock Option and Grant Plan - Summary of Stock-Based Compensation by Type of Award (Details) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2023 |
Mar. 31, 2022 |
|
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||
| Total stock-based compensation expense | $ 7,501 | $ 4,392 |
| Stock Options | ||
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||
| Total stock-based compensation expense | 6,256 | 3,908 |
| Restricted Stock Units | ||
| Share Based Compensation Arrangement By Share Based Payment Award [Line Items] | ||
| Total stock-based compensation expense | $ 1,245 | $ 484 |