Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Summary of Assumptions under Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details)

v3.23.1
Equity Incentive Plans - Summary of Assumptions under Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards (Details) - Outstanding Stock Option Awards
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected volatility, Minimum 74.00% 72.00%
Expected volatility, Maximum 75.00% 77.74%
Expected dividend yield 0.00% 0.00%
Risk-free interest rate, Minimum 1.91% 0.56%
Risk-free interest rate, Maximum 4.23% 1.34%
Minimum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 5 years 11 months 19 days 5 years 5 months 23 days
Maximum    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Expected term (in years) 6 years 3 days 6 years 14 days