Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details)

v3.24.1
Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details) - USD ($)
12 Months Ended
Sep. 26, 2018
Sep. 25, 2018
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Feb. 28, 2023
Jan. 01, 2023
Aug. 31, 2022
Aug. 04, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock     15,970,351 13,804,406          
Aggregate intrinsic value of stock options exercised     $ 30,000 $ 100,000 $ 2,800,000        
Expected dividend     0.00%            
Weighted-average estimated grant-date fair value of employee stock options granted     $ 3.84 $ 5.03 $ 14.24        
Stock-based compensation expense     $ 24,908,000 $ 26,304,000 $ 23,241,000        
Restricted Stock Units                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Shares vesting period     4 years            
2018 Equity Incentive Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock   2,300,000              
Annual increase period of common stock reserved for issuance   10 years              
Maximum number of shares issuable             2,874,977    
2018 Equity Incentive Plan | Employee Stock Option                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Total unrecognized compensation cost related to unvested granted     $ 11,000,000            
Remaining unrecognized compensation cost expected to be recognized over weighted-average period     2 years            
2018 Equity Incentive Plan | Restricted Stock Units                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Total unrecognized compensation cost related to unvested granted     $ 30,900,000            
Remaining unrecognized compensation cost expected to be recognized over weighted-average period     2 years 3 months 18 days            
2018 Equity Incentive Plan | Employee Stock Purchase Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Unrecognized stock-based compensation expense     $ 300,000            
2018 Equity Incentive Plan | Maximum                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Increase in stock reserved for issuance as percentage of capital stock outstanding on last day of preceding year   5.00%              
2018 Employee Stock Purchase Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock 230,000                
Maximum number of shares issuable 2,300,000   526,079 270,516 145,809        
Shares available for grant     914,911            
Shares available for grant, increase             574,995    
2018 Employee Stock Purchase Plan | Maximum                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Increase in stock reserved for issuance as percentage of capital stock outstanding on last day of preceding year 1.00%                
2021 Equity Inducement Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock                 750,000
2018 Equity Incentive Plan and 2021 Equity Inducement Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Shares available for grant     1,777,919            
Amended and Restated 2021 Equity Inducement Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock     2,000,000     500,000   750,000