Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares |
Mar. 31, 2024 |
Dec. 31, 2023 |
|---|---|---|
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 17,647,008 | 15,970,351 |
| Common Stock Options Issued and Outstanding | ||
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 8,749,825 | 7,905,032 |
| Common Stock Awards Issued and Outstanding | ||
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 6,222,549 | 5,244,873 |
| Remaining Shares Reserved for Issuance under 2018 Equity Incentive Plan and 2021 Equity Inducement Plan | ||
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 1,801,715 | 1,777,919 |
| Shares Reserved for Issuance Under 2018 Employee Stock Purchase Plan | ||
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 745,303 | 914,911 |
| Warrants to Purchase Common Stock | ||
| Stockholders Equity [Line Items] | ||
| Reserved common stock | 127,616 | 127,616 |