Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Summary of Fair Value Assumptions (Details)

v3.22.4
Stockholders' Equity - Summary of Fair Value Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Risk-free interest rate 3.07% 0.95%
Expected life (in years) 5 years 11 months 4 days 5 years 10 months 9 days
Estimated volatility 90.02% 57.20%
Expected dividends   0.00%
Weighted-average grant date fair value $ 8.21 $ 9.48
Employee Stock Purchase Plan    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Risk-free interest rate, minimum 0.22%  
Risk-free interest rate, maximum 2.52%  
Risk-free interest rate   0.05%
Expected life (in years) 6 months 6 months
Estimated volatility, minimum 61.29%  
Estimated volatility, maximum 78.23%  
Estimated volatility   57.82%
Expected dividends 0.00% 0.00%
Weighted-average grant date fair value $ 4.14 $ 5.78