Quarterly report pursuant to Section 13 or 15(d)

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

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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Sep. 26, 2018
Sep. 25, 2018
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Feb. 28, 2023
Jan. 01, 2023
Dec. 31, 2022
Aug. 31, 2022
Aug. 04, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Reserved common stock     16,630,903   16,630,903       13,804,406    
Stock-based compensation expense     $ 6,661 $ 6,696 $ 12,682 $ 13,670          
Restricted Stock Units                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Restricted common stock granted         2,305,225            
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 | Restricted Stock Units                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Total unrecognized compensation cost related to unvested granted     38,100 42,100 $ 38,100 $ 42,100          
Remaining unrecognized compensation cost expected to be recognized over weighted-average period         2 years 7 months 6 days 3 years          
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     15,300 22,100 $ 15,300 $ 22,100          
Remaining unrecognized compensation cost expected to be recognized over weighted-average period         2 years 2 months 12 days 2 years 6 months          
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 $ 200 $ 200 $ 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%                  
2021 Equity Inducement Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Reserved common stock                     750,000
Amended and Restated 2021 Equity Inducement Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Reserved common stock     2,000,000   2,000,000   500,000     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     1,737,524   1,737,524            
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                    
Increase in stock reserved for issuance as percentage of capital stock outstanding on last day of preceding year 1.00%                    
Maximum number of shares issuable 2,300,000   983,316   983,316            
Shares available for grant     1,201,930   1,201,930            
Shares available for grant, increase               574,995