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Stockholders' Equity - Equity Plan (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
offering_period
shares
Sep. 30, 2022
shares
Jun. 30, 2022
shares
Dec. 31, 2021
shares
Jun. 30, 2021
shares
May 31, 2017
shares
Jan. 01, 2013
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized for issuance   333,333          
2018 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized for issuance     400,000   166,667    
Number of shares available for future grant 578,097     372,377      
2018 Plan | Stock options | Share-based award tranche one              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period (in years) 2 years            
2018 Plan | Stock options | Share-based award tranche two              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period (in years) 3 years            
2018 Plan | Stock options | Share-based award tranche three              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period (in years) 10 years            
ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of offering periods | offering_period 2            
Term of offering period 6 months            
Maximum annual contribution per employee as percent of annual salary 15.00%            
Maximum annual contribution per employee | $ $ 25,000            
Purchase price measurement as percent of closing price on enrollment date 85.00%            
Purchase price measurement as percent of closing price on exercise date 85.00%            
2012 ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized for issuance             3,333
2017 ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized for issuance           6,667  
Amended 2017 ESPP              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized for issuance         33,333    
Number of shares available for future grant 9,352     20,038      
Shares issued under ESPP 10,695