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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Millions			3 Months Ended
	Sep. 26, 2018	Sep. 25, 2018	Mar. 31, 2024	Mar. 31, 2023	Jan. 01, 2024	Dec. 31, 2023	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			17,647,008			15,970,351
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted common stock granted			2,309,030
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					3,050,491
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			$ 36.5	$ 45.0
Remaining unrecognized compensation cost expected to be recognized over weighted-average period			2 years 7 months 6 days	2 years 10 months 24 days
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			$ 12.1	$ 18.0
Remaining unrecognized compensation cost expected to be recognized over weighted-average period			2 years 3 months 18 days	2 years 4 months 24 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			$ 0.6	$ 0.5
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				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			1,801,715
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		1,554,697
Shares available for grant			745,303
Shares available for grant, increase								114,754
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%