Equity Incentive Plans - Summary of Options Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares) | shares	1,885
Options granted (in shares) | shares	362
Options exercised (in Shares) | shares	(13)
Options forfeited/canceled/expired (in shares) | shares	(106)
Options outstanding, Ending Balance (in Shares) | shares	2,128	1,885
Options vested and expected to vest (in Shares) | shares	2,041
Options exercisable (in Shares) | shares	1,411
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 18.03
Options granted, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	9.07
Options exercised, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	6.63
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	14.06
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	16.78	$ 18.03
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share) | $ / shares	17.15
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 21.04
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 25 days	6 years 2 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	5 years 11 months 8 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 8 months 19 days
Options outstanding, Ending Balance, Average Intrinsic Value | $	$ 373	$ 73
Options vested and expected to vest at September 30, 2022 | $	339
Options exercisable at September 30, 2022 | $	$ 88