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)

v3.23.1
Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Sep. 25, 2018
Sep. 30, 2018
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Feb. 28, 2023
Aug. 31, 2022
Jan. 01, 2022
Aug. 04, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock     13,804,406 11,221,420          
Aggregate intrinsic value of stock options exercised     $ 100 $ 2,800 $ 1,200        
Expected dividend     0.00%            
Weighted-average estimated grant-date fair value of employee stock options granted     $ 5.03 $ 14.24 $ 5.59        
Stock-based compensation expense     $ 26,304 $ 23,241 $ 11,917        
Subsequent Event                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock           500,000      
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               2,316,303  
2018 Equity Incentive Plan | Employee Stock Options                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Total unrecognized compensation cost related to unvested granted     $ 15,500            
Remaining unrecognized compensation cost expected to be recognized over weighted-average period     2 years 2 months 12 days            
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     $ 36,200            
Remaining unrecognized compensation cost expected to be recognized over weighted-average period     2 years 8 months 12 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     $ 200            
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              
Annual increase period of common stock reserved for issuance   10 years              
Maximum number of shares issuable   2,300,000 270,516 145,809 195,992        
Shares available for grant     865,995            
Shares available for grant, increase               463,260  
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     1,541,706            
Amended and Restated 2021 Equity Inducement Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Reserved common stock     2,000,000       750,000