Collaborative Arrangement and Arrangement Other than Collaborative [Domain] Collaborative Arrangement and Arrangement Other than Collaborative Document Transition Report Document Transition Report Money Market Funds [Member] Money Market Funds Increase (Decrease) in Other Accrued Liabilities Accrued expenses and other current liabilities Prepaid clinical expenses. Prepaid Clinical Expenses [Member] Long-term Prepaid Clinical Expenses Lessee operating lease expiration date. Lessee Operating Lease Expiration Date Lessee operating lease expiration date Cash paid for amounts included in the measurement of lease liabilities. Cash Paid For Amounts Included In Measurement Of Lease Liabilities [Abstract] Cash paid for amounts included in the measurement of lease liabilities: Debt Instruments [Abstract] Total available-for-sale investments Total available-for-sale investments Fair Value Debt Securities, Available-for-Sale Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Other Liabilities, Noncurrent Other non-current liabilities Other Liabilities, Noncurrent, Total Increase (Decrease) in Prepaid Expense and Other Assets Prepaid expenses and other current assets Increase (Decrease) in Prepaid Expense and Other Assets, Total Restricted Stock Units (RSUs) [Member] Restricted Stock Units Tranche B Tranche B [Member] Tranche B. Fair Value, Inputs, Level 1 [Member] Level 1 Related party agreement automatically renewal additional term unless terminated. Related Party Agreement Automatically Renewal Additional Term Unless Terminated Agreement automatically renewal additional term unless terminated Fair Value Disclosures [Text Block] FAIR VALUE OF FINANCIAL INSTRUMENTS Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Asset Transfers Into Level 3 Fair value assets transferred into level 3 Accrued interest Interest Receivable, Noncurrent Accrued interest receivable Finance Lease, Interest Payment on Liability Operating cash flows from finance leases Operating lease annual lease expense. Operating Lease Annual Lease Expense Annual base rent Subsequent Events [Text Block] SUBSEQUENT EVENTS Amended and restated 2020 equity incentive plan. Amended And Restated Two Thousand Twenty Equity Incentive Plan [Member] 2020 Plan Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis [Table Text Block] Financial Assets Measured at Fair Value on Recurring Basis Cash and cash equivalents available for sale Cash Equivalents Available for Sale Cash equivalents available for sale. Operating Lease, Liability, Noncurrent Lease liabilities: non-current Schedule of Stock by Class [Table] Schedule Of Stock By Class [Table] Debt Securities, Available-for-Sale [Table] Debt Instrument, Unamortized Discount, Total Debt Instrument, Unamortized Discount Less: unamortized debt issuance costs Class of Stock [Line Items] Class Of Stock [Line Items] Related Party Transactions [Abstract] Balance Sheet Location [Axis] Balance Sheet Location Assets, Current Total current assets Vesting [Domain] Liabilities and Equity Total liabilities and stockholders’ equity Entity Address, State or Province Entity Address, State or Province Employee Stock Purchase Plan Estimated Shares Issuable Employee Stock Purchase Plan Estimated Shares Issuable [Member] Employee Stock Purchase Plan Estimated Shares Issuable [Member] Fair value assets and liabilities transfers amount. Fair Value Assets and Liabilities Transfers Amount Fair value assets and liabilities transfers amount Total comprehensive loss Comprehensive Income (Loss), Net of Tax, Attributable to Parent Manufacturing and service contracts, 2023 (remaining six months) Purchase Obligation, to be Paid, Remainder of Fiscal Year Trading Symbol Trading Symbol Common Stock, Shares, Issued Common stock, shares issued Common Stock, Shares, Issued, Total Debt Securities, Available-for-Sale [Line Items] Debt Securities, Available-for-sale [Line Items] Long-Term Debt, Maturity, Year Two 2025 Accrued contract manufacturing current. Accrued Contract Manufacturing Current Accrued contract manufacturing Prepaid Expense and Other Assets, Current Prepaid expenses and other current assets Net Income (Loss) Attributable to Parent [Abstract] Numerator: Accrued property and equipment current. Accrued Property And Equipment Current Accrued property and equipment Cash and Cash Equivalents Cash and Cash Equivalents [Member] Schedule of Long-Term Debt Instruments [Table] Shares, Outstanding Balance, shares Balance, shares Draw an additional loan Line of Credit Facility, Remaining Borrowing Capacity Common Stock, Capital Shares Reserved for Future Issuance Common stock reserved for future issuance Accumulated Other Comprehensive Loss AOCI Attributable to Parent [Member] Long-Term Debt, Current Maturities, Total Long-Term Debt, Current Maturities Less: current portion of term loan Entity Address, City or Town Entity Address, City or Town Percentage of fee amount paid upon final payment Percentage of Fee Amount Paid Upon Final Payment Percentage of fee amount paid upon final payment. Related Party Transaction [Line Items] Related Party Transaction [Line Items] Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration] Operating lease, liability, noncurrent, statement of financial position [extensible list] Long-Term Debt, Maturity, Remainder of Fiscal Year 2023 Operating Lease, Weighted Average Discount Rate, Percent Weighted average discount rate Lessee operating lease renewal term Lessee, Operating Lease, Renewal Term Debt Disclosure [Text Block] TERM LOAN Property, Plant and Equipment [Table Text Block] Schedule of Components of Property and Equipment Term Loan Term Loan [Member] Term loan. Financing cash flows from finance leases Finance Lease, Principal Payments Financing cash flows from finance leases Principal payments on finance leases Lessee, Operating Lease, Liability, to be Paid, Next Rolling 12 Months 2024 Additional Paid-in Capital [Member] Additional Paid-in Capital Lessee operating and financing leases. Lessee Operating And Financing Leases [Text Block] LEASES Indemnification Agreement [Member] Indemnification Agreement Purchase Obligation, to be Paid, Year Four and Five, Total Purchase Obligation, to be Paid, Year Four and Five Manufacturing and service contracts, 2026 - 2027 Liabilities, Current [Abstract] Current liabilities: Debt Securities, Available-for-Sale, Continuous Unrealized Loss Position, 12 Months or Longer Fair value of securities, continuous unrealized loss position for more than 12 months Assets, Current [Abstract] Current assets: Preferred stock, par value Preferred Stock, Par or Stated Value Per Share Statement of Stockholders' Equity [Abstract] Number of additional shares reserved for future issuance Additional Common Stock Capital Shares Reserved For Future Issuance Additional number of common shares reserved for future issuance. Operating lease liabilities, current Lease liabilities: current Operating current lease liabilities Maturity date Debt Instrument, Maturity Date Long term debt Long-Term Debt Total future maturities Property, Plant and Equipment, Net Property and equipment, net Property and equipment, net Property, Plant and Equipment, Net, Beginning Balance Property, Plant and Equipment, Net, Ending Balance Class of Stock [Domain] Class of Stock Investment Income, Interest Interest income Statement of Comprehensive Income [Abstract] Collaborative Arrangement and Arrangement Other than Collaborative [Axis] Collaborative Arrangement and Arrangement Other than Collaborative Entity Central Index Key Entity Central Index Key Finance Lease, Liability, Current Finance lease liabilities, current Finance current lease liabilities Plan Name [Domain] Plan Name Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Outstanding, Weighted Average Remaining Contractual Terms Weighted Average Remaining Contractual Life (Years), Balance Restricted Cash, Noncurrent Restricted cash Office space one. Office Space One [Member] Office Space at 323 Allerton Avenue, South San Francisco, California Other assets Other assets Increase (Decrease) in Other Operating Assets Increase (Decrease) in Other Operating Assets, Total Lessee, Operating Lease, Option to Extend Option to extend term Liabilities, Current Total current liabilities Entity Tax Identification Number Entity Tax Identification Number Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Operating Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table] Schedule Of Antidilutive Securities Excluded From Computation Of Earnings Per Share [Table] Increase (Decrease) in Operating Capital [Abstract] Changes in operating assets and liabilities Deposits Assets, Noncurrent Deposits Financial Instruments [Domain] Contractual Obligation, to be Paid, Year Two and Three, Total Contractual Obligation, to be Paid, Year Two and Three Contractual Obligation, 2024 - 2025 Initial term of agreement with related party. Initial Term Of Agreement With Related Party Initial term of agreement with related party Schedule of Other Assets, Noncurrent [Table Text Block] Schedule of Components of Other Assets, Net Payable and accrued liabilities due to related party Increase Decrease In Payable And Accrued Liabilities Due To Related Parties Current Increase (decrease) in payable and accrued liabilities due to related parties current. Issuance of common stock under employee stock purchase plan Stock Issued During Period, Value, Employee Stock Purchase Plan Award Type [Axis] Award Type Computer hardware and software. Computer Hardware And Software [Member] Computer Hardware and Software Plan Name [Axis] Plan Name Assets Total assets Noncash or Part Noncash Acquisition, Fixed Assets Acquired Purchase of property and equipment in accounts payable and accrued expenses Operating Lease, Right-of-Use Asset Operating lease ROU assets Operating lease right-of-use assets Silicon valley bank. Silicon Valley Bank [Member] SVB Entity Registrant Name Entity Registrant Name Fair Value, Measurement with Unobservable Inputs Reconciliation, Liability, Transfers out of Level 3 Fair value liabilities transferred out of level 3 Lessee, Operating Lease, Existence of Option to Extend [true false] Existence of option to extend Lessee, Lease, Description [Line Items] Lessee Lease Description [Line Items] Related Party, Type [Domain] Related Party Retained Earnings (Accumulated Deficit) Accumulated deficit Retained Earnings (Accumulated Deficit), Total Retained Earnings (Accumulated Deficit), Beginning Balance Retained Earnings (Accumulated Deficit), Ending Balance Long-Term Debt, Fiscal Year Maturity [Abstract] Proceeds from issuance of common stock under employee stock purchase plan Proceeds from Stock Plans Retained Earnings [Member] Accumulated Deficit Class of Stock [Axis] Class of Stock Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number Number of RSUs, Balance Number of RSUs, Balance Number of share option Issuance of common stock under employee stock purchase plan, shares Stock Issued During Period, Shares, Employee Stock Purchase Plans Minimum Minimum [Member] Schedule of Fair Value of Available for Sale Investments Schedule of Available-for-Sale Securities Reconciliation [Table Text Block] Schedule of Fair Value of Available-for-Sale Investments by Contractual Maturity Investments Classified by Contractual Maturity Date [Table Text Block] Percentage of loan agreement amount to be held in collateral account. Percentage of Loan Agreement Amount to be Held in Collateral Account Percentage of loan agreement amount to be held in collateral account. Proceeds from Stock Options Exercised Proceeds from exercise of stock options under equity incentive plan Significant Accounting Policies [Text Block] SIGNIFICANT ACCOUNTING POLICIES Operating Lease, Liability Operating lease liabilities Total lease liabilities Debt Securities, Available-for-Sale, Accrued Interest, after Allowance for Credit Loss, Statement of Financial Position [Extensible Enumeration] Term loan non current. Term Loan Non Current Total term loan, net of current portion US Government Agencies Debt Securities [Member] U.S. Government Agency Securities Equity Component [Domain] Equity Component Amortization of Debt Issuance Costs and Discounts, Total Amortization of Debt Issuance Costs and Discounts Accretion of term loan discount and issuance costs Adjustments to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] Adjustments to reconcile net loss to net cash used in operating activities: Measurement Frequency [Axis] Measurement Frequency Debt Disclosure [Abstract] Basis spread rate Debt Instrument, Basis Spread on Variable Rate Entity Current Reporting Status Entity Current Reporting Status Common Stock, Shares Authorized Common stock, shares authorized R&D costs Research and development Research and Development Expense, Total Research and development costs Finance Lease, Right-of-Use Asset, after Accumulated Amortization Finance lease ROU assets Finance Lease, Right-of-Use Asset, after Accumulated Amortization, Total Finance lease right-of-use assets Percentage of loan agreement with lenders. Percentage Of Loan Agreement With Lenders Loan Agreement with Lenders Assets [Abstract] Assets Minimum Interest Rate Base Rate [Member] Base Rate Common stock, $0.001 par value; 1,000,000,000 shares authorized as of June 30, 2023 and December 31, 2022; 40,992,179 and 40,861,386 shares issued and outstanding as of June 30, 2023 and December 31, 2022, respectively Common Stock, Value, Issued Common Stock, Value, Issued, Total Common Stock, Value, Issued, Beginning Balance Common Stock, Value, Issued, Ending Balance Furniture and Fixtures [Member] Furniture and Fixtures Current Fiscal Year End Date Current Fiscal Year End Date Share-Based Payment Arrangement, Noncash Expense Stock-based compensation Share-based Payment Arrangement, Noncash Expense, Total Operating Income (Loss) Loss from operations Loss from operations Research and Development Expense [Member] Research and Development Long-Term Debt, Maturity, Year Four 2027 Contractual Obligation, Fiscal Year Maturity [Table Text Block] Schedule of Future Maturities Under the Loan Agreement Schedule of accrued expenses and other current liabilities. Schedule Of Accrued Expenses And Other Current Liabilities Table [Text Block] Components of Accrued Expenses and Other Current Liabilities Bank account cash Cash Cash, Ending Balance Cash, Beginning Balance Short-term investment commercial paper. Short-term Investment Commercial Paper [Member] Short Term Investment Commercial Paper Share-Based Payment Arrangement, Expense Total stock-based compensation expense Stock-based compensation expenses Equipment [Member] Laboratory Equipment Annual interest rate of additional payments over life of lease Annual interest rate of additional payments over life of lease. Other Comprehensive Income (Loss), Net of Tax [Abstract] Other comprehensive gain (loss), net of tax: Reconciliation of cash and cash equivalents and restricted cash: Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents [Abstract] Debt Instrument, Face Amount Term loan, principal amount Debt instrument, face amount Supplemental Cash Flow Disclosures for Cash Paid for Leases Supplemental cash flow information related to leases. Supplemental Cash Flow Information Related To Leases Table [Text Block] Other Nonoperating Income (Expense) Other Nonoperating Income (Expense), Total Other income (expense), net Lessee, Operating Lease, Liability, to be Paid, Fiscal Year Maturity [Abstract] Lessee, Operating Lease, Liability, Payment, Due [Abstract] Operating Expenses [Abstract] Operating expenses: Depreciation, Depletion and Amortization, Nonproduction, Total Depreciation, Depletion and Amortization, Nonproduction Depreciation and amortization expense Depreciation Related party markup cost percentage. Related Party Markup Cost Percentage Markup cost in percentage Subsequent Events [Abstract] Commitments and Contingencies Disclosure [Abstract] Other Assets, Noncurrent Other assets Total other assets Other Accrued Liabilities, Current Other STOCKHOLDERS' EQUITY Equity [Text Block] Unrealized Gains Debt Securities, Available-for-Sale, Accumulated Gross Unrealized Gain, before Tax Oxford finance and silicon valley bank loan agreement. Oxford Finance And Silicon Valley Bank Loan Agreement [Member] Oxford-SVB Loan Agreement Interest rate terms Debt Instrument, Interest Rate Terms Equity, Attributable to Parent [Abstract] Stockholders’ equity Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items] Lease, Cost [Table Text Block] Components of Lease Costs Loss Contingency Nature [Axis] Loss Contingency Nature Earnings Per Share [Abstract] Schedule of Maturities of Operating Lease Liabilities Lessee, Operating Lease, Liability, to be Paid, Maturity [Table Text Block] Fixed Rate Fixed Rate [Member] Fixed rate. Schedule of common stock reserved for future issuance. Schedule Of Common Stock Reserved For Future Issuance Table [Text Block] Common Stock Reserved for Future Issuance Accounting Policies [Abstract] Lessee, Lease, Description [Table] Lessee Lease Description [Table] Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] Share Based Compensation Arrangement By Share Based Payment Award [Line Items] Accrued interest receivable, investment Debt Securities, Available-for-Sale, Accrued Interest, after Allowance for Credit Loss Debt Securities, Available-for-Sale, Accrued Interest, after Allowance for Credit Loss, Total Earnings Per Share, Basic, Total Earnings Per Share, Basic Net loss per share, basic Commitments and Contingencies Commitments and contingencies (Note 11) Income Statement [Abstract] Short term investments available for sale Debt Securities, Available-for-Sale, Current Debt Securities, Available-for-sale, Current, Total Related Party, Type [Axis] Related Party Operating Lease, Cost Operating lease cost Short-term lease cost Short-Term Lease, Cost Statistical Measurement [Domain] Net Cash Provided by (Used in) Operating Activities Net cash used in operating activities Drew an initial loan Proceeds from Issuance of Debt Issuance of term loan All Award Types Award Type Document Period End Date Document Period End Date Statistical Measurement [Axis] Research and development services agreement. Research And Development Services Agreement [Member] Research and Development Services Agreement Commitments and Contingencies Disclosure [Text Block] COMMITMENTS AND CONTINGENCIES Operating Lease, Payments Operating cash flows from operating leases Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration] Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Earnings Per Share, Diluted, Total Earnings Per Share, Diluted Net loss per share, diluted Lessee, operating lease commencing end date. Lessee Operating Lease Commencing End Date Lessee, operating lease commencing end date Debt Instrument, Name [Domain] Fair Value Hierarchy and NAV [Domain] Fair Value Hierarchy and NAV Debt Securities, Available-for-Sale, Fair Value, Fiscal Year Maturity [Abstract] Increase (Decrease) in Other Noncurrent Liabilities Other non-current liabilities Loss Contingency, Nature [Domain] Loss Contingency, Nature Fair Value, Recurring [Member] Fair Value on Recurring Basis Additional Paid in Capital, Common Stock Additional paid-in capital Additional Paid in Capital, Common Stock, Beginning Balance Additional Paid in Capital, Common Stock, Ending Balance Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents, Period Increase (Decrease), Excluding Exchange Rate Effect Net increase (decrease) in cash, cash equivalents and restricted cash U.S. Treasury Securities US Treasury Securities [Member] Finite-Lived Intangible Assets, Major Class Name [Domain] Contractual Obligation, 2023 (remaining six months) Contractual Obligation, to be Paid, Remainder of Fiscal Year Consolidation, Policy [Policy Text Block] Principles of Consolidation Maturing in one year or less Debt Securities, Available-for-Sale, Fair Value, Maturity, Allocated and Single Maturity Date, Year One Liabilities and Equity [Abstract] Liabilities and stockholders’ equity Other Liability, Current, Related and Nonrelated Party Status [Extensible Enumeration] Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration] Variable lease cost and other, net. Variable Lease Cost And Other Net Variable lease cost and other, net Entity Address, Postal Zip Code Entity Address, Postal Zip Code Entity Interactive Data Current Entity Interactive Data Current Collaboration Agreements. Collaboration Agreements [Member] Collaboration Agreement Stock options issued and outstanding. Stock Options Issued And Outstanding [Member] Stock Options Issued and Outstanding Increase (Decrease) in Accounts Payable Accounts payable Increase (Decrease) in Accounts Payable, Total Credit Facility [Domain] Equity [Abstract] Lessee, Operating Lease, Liability, Undiscounted Excess Amount Less: imputed interest Outstanding balance of loan threshold at which Intellectual Property becomes collateral Debt Instrument Outstanding Balance of Loan Threshold Required to be Collateral Debt instrument outstanding balance of loan threshold required to be collateral. Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period Number of RSUs, Granted Restricted stock units granted Debt Securities, Available-for-Sale, Allowance for Credit Loss, Total Debt Securities, Available-for-Sale, Allowance for Credit Loss, Beginning Balance Debt Securities, Available-for-Sale, Allowance for Credit Loss, Ending Balance Debt Securities, Available-for-Sale, Allowance for Credit Loss Allowance for credit losses Entity Incorporation, State or Country Code Entity Incorporation, State or Country Code Term loan unamortized final payment. Term Loan Unamortized Final Payment Less: unaccreted final payment costs Other pharmaceutical manufacturing contract. Other Pharmaceutical Manufacturing Contract [Member] Other Pharmaceutical Manufacturing Contract Equity Components [Axis] Equity Components Deduction of Debt Issuance Costs Deduction of Debt Issuance Costs deduction of debt issuance costs Investments, Debt and Equity Securities [Abstract] Proceeds from Sale, Maturity and Collection of Investments, Total Proceeds from Sale, Maturity and Collection of Investments Maturities of investments Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Weighted Average Grant Date Fair Value Weighted-Average Grant Date Fair Value, Vested Local Phone Number Local Phone Number Property, Plant and Equipment [Line Items] Property Plant And Equipment [Line Items] Statement of Cash Flows [Abstract] Contractual Obligation, to be Paid, Year Four and Five, Total Contractual Obligation, to be Paid, Year Four and Five Contractual Obligation, 2026 - 2027 Accumulated other comprehensive loss Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated Other Comprehensive Income (Loss), Net of Tax, Total Purchase Obligation, to be Paid, Year One Manufacturing and service contracts, 2023 Common Stock, Par or Stated Value Per Share Common stock, par value Tallac therapeutics. Tallac Therapeutics [Member] Tallac Therapeutics Long-Lived Tangible Asset [Axis] Long-Lived Tangible Asset Tranche C. Tranche C [Member] Tranche C Schedule of Share-Based Compensation Arrangements by Share-Based Payment Award [Table] Schedule Of Share Based Compensation Arrangements By Share Based Payment Award [Table] Intellectual Property Intellectual Property [Member] Number of pending or threatened litigation Number of pending or threatened litigation Maximum Maximum [Member] Short-term investment asset backed securities. Short-term Investment Asset Backed Securities [Member] Short Term Investment Asset-Backed Securities Contractual Obligation, to be Paid, Year One Contractual Obligation, 2023 Prepaid Expense, Noncurrent, Total Prepaid Expense, Noncurrent Long-term prepaid expenses Organization, Consolidation and Presentation of Financial Statements Disclosure [Text Block] ORGANIZATION APIC, Share-Based Payment Arrangement, Increase for Cost Recognition Stock-based compensation APIC, Share-based Payment Arrangement, Increase for Cost Recognition, Total Fair Value, Recurring and Nonrecurring [Table] Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Table] Secured Term Loan Facility Secured Term Loan Facility [Member] Secured term loan facility. Fair Value, Measurement with Unobservable Inputs Reconciliation, Liability, Transfers Into Level 3 Fair value liabilities transferred into level 3 Non-cash lease costs Operating Finance Lease Right Of Use Asset Amortization Expense Amount of amortization expense for right-of-use asset from operating and finance leases. General and Administrative Expense [Member] General and Administrative Number of lenders. Number of Lenders Number of lenders Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block] Summary of Outstanding Potentially Dilutive Securities Were Excluded from Computation of Diluted Net Loss Per Share City Area Code City Area Code Other Commitments [Table Text Block] Summary of Other Contractual Obligations and Other Commitments from Manufacturing and Service Contracts Net Cash Provided by (Used in) Operating Activities [Abstract] Operating activities Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding Outstanding Options Aggregate Intrinsic Value, Balance Aggregate Intrinsic Value, Balance Thereafter Lessee, Operating Lease, Liability, to be Paid, after Rolling Year Five Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment, Total Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment, Beginning Balance Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment, Ending Balance Less: accumulated depreciation General and Administrative Expense General and administrative General and Administrative Expense, Total Weighted Average Number of Shares Outstanding, Basic, Total Weighted Average Number of Shares Outstanding, Basic Weighted-average shares of common stock outstanding, basic Weighted-average shares of common stock used to compute net loss per share, basic Incremental prepayment amount Incremental Prepayment Amount Incremental prepayment amount. Net Cash Provided by (Used in) Financing Activities [Abstract] Financing activities Lessee, Operating Lease, Description Operating lease, description Accrued clinical costs and non clinical costs current. Accrued Clinical And Non Clinical Costs Current Accrued clinical and nonclinical study costs Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] Summary of Restricted Stock Unit Activity Statement [Table] Statement [Table] Schedule of Related Party Transactions, by Related Party [Table] Schedule Of Related Party Transactions By Related Party [Table] Employee stock purchase plan shares authorized for future issuance. Employee Stock Purchase Plan Shares Authorized For Future Issuance [Member] Employee Stock Purchase Plan Shares Authorized for Future Issuance Document Fiscal Period Focus Document Fiscal Period Focus Total lease payment Lessee, Operating Lease, Liability, to be Paid Total lease payments Short-term investment U.S. government agencies debt securities. Short-term Investment U S Government Agencies Debt Securities [Member] Short Term Investment U.S. Government Agency Securities Short-term investment U.S. treasury securities. Short-term Investment U S Treasury Securities [Member] Short Term Investment U.S. Treasury Securities Related Party Transactions Disclosure [Text Block] RELATED-PARTY TRANSACTIONS Tranche D Tranche D [Member] Tranche D. Lessee area of operating lease. Lessee Area Of Operating Lease Area of operating lease Accrued Professional Fees, Current Accrued professional fees Statement [Line Items] Statement [Line Items] Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount Antidilutive securities excluded from computation of earnings per share Commitments and contingencies. Commitments And Contingencies [Line Items] Commitments And Contingencies [Line Items] Total lease costs Lease, Cost Letter of credit Letters of Credit Outstanding, Amount Common Stock [Member] Common Stock Debt Instrument [Line Items] Lessee operating lease leasehold improvements Lessee Operating Lease Leasehold Improvements Lessee operating lease leasehold improvements. Lessee, Operating Lease, Liability, to be Paid, Rolling Year Four 2027 Right-of-use asset acquired under leases. Right Of Use Asset Acquired Under Leases [Abstract] Right-of-use asset acquired under leases Cash and Cash Equivalents, at Carrying Value Cash and cash equivalents Cash and Cash Equivalents, at Carrying Value, Total Cash and Cash Equivalents, at Carrying Value, Beginning Balance Cash and Cash Equivalents, at Carrying Value, Ending Balance Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block] Summary of Share-Based Compensation Expense Net amortization of premiums and accretion of discounts on investments Net amortization of premiums and accretion of discounts on investments Accretion (Amortization) of Discounts and Premiums, Investments Entity Common Stock, Shares Outstanding Entity Common Stock, Shares Outstanding Long Term Investment U.S. Treasury Securities Long Term Investment US Treasury Securities [Member] Long term investment US treasury securities. Antidilutive Securities, Name [Domain] Antidilutive Securities, Name Long Term Investment Asset-Backed Securities Long Term Investment Asset Backed Securities [Member] Long term investment asset backed securities. Restricted Stock Issued and Outstanding Restricted Stock Issued And Outstanding [Member] Restricted Stock Issued And Outstanding [Member] Cover [Abstract] Vesting [Axis] Percentage of increase of annual rent. Percentage of increase of annual rent Percentage Of Increase Of Annual Rent Document Fiscal Year Focus Document Fiscal Year Focus Fair Value, Measurement with Unobservable Inputs Reconciliation, Recurring Basis, Asset, Transfers out of Level 3 Fair value assets transferred out of level 3 Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value Weighted-Average Grant Date Fair Value, Granted Security Exchange Name Security Exchange Name Long-term investments Long-Term Investments Long-term Investments, Total New Accounting Pronouncements, Policy [Policy Text Block] Adopted Accounting Pronouncements Preferred stock, shares authorized Preferred Stock, Shares Authorized Other Other Assets Noncurrent Other Amount of other assets noncurrent other. Property, Plant and Equipment, Gross Property and equipment, gross Property, Plant and Equipment, Gross, Total Property, Plant and Equipment, Gross, Beginning Balance Property, Plant and Equipment, Gross, Ending Balance Right-of-use asset acquired under operating leases Right-of-Use Asset Obtained in Exchange for Operating Lease Liability Operating leases Financial Instrument [Axis] Weighted Average Number of Shares Outstanding, Diluted [Abstract] Denominator: Entity Emerging Growth Company Entity Emerging Growth Company Amendment Flag Amendment Flag Unrealized Losses Debt Securities, Available-for-Sale, Accumulated Gross Unrealized Loss, before Tax Basis of Accounting, Policy [Policy Text Block] Basis of Presentation Finance Lease, Right-of-Use Asset, Amortization Finance lease cost, Amortization of right-of-use assets Purchase Obligation, to be Paid, Year Two and Three, Total Purchase Obligation, to be Paid, Year Two and Three Manufacturing and service contracts, 2024 - 2025 Lessee operating lease leasehold improvements additional payments Lessee Operating Lease Leasehold Improvements Additional Payments Lessee operating lease leasehold improvements additional payments. Leases [Abstract] Variable Rate [Domain] Securities Act File Number Entity File Number Lessee, Operating Lease, Liability, to be Paid, Remainder of Fiscal Year 2023 Available borrowing capacity upon achievement of milestones Line Of Credit Facility Available Borrowing Capacity Upon Achievement of Milestones Line Of credit facility available borrowing capacity upon achievement of milestones. Long-Term Debt, Excluding Current Maturities Term loan, non-current Term loan, non-current, net OCI, Debt Securities, Available-for-Sale, Unrealized Holding Gain (Loss), before Adjustment, after Tax Unrealized gain (loss) on available-for-sale investments Cash, cash equivalents and restricted cash at beginning of year Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents Total cash and cash equivalents and restricted cash Cash, cash equivalents and restricted cash at end of period Balance Sheet Related Disclosures [Abstract] Lessee, Operating Lease, Liability, to be Paid, Rolling Year Two 2025 Share-Based Payment Arrangement [Abstract] Accounts Payable, Current Accounts payable Accounts Payable, Current, Total Debt Instrument [Axis] Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value Weighted-Average Grant Date Fair Value, Balance Weighted-Average Grant Date Fair Value, Balance Weighted-average grant-date fair value per share, restricted stock Operating Expenses Total operating expenses Long-Term Debt, Maturity, Year One 2024 Lease operating lease expiration period Lessee Operating Lease Expiration Period Lessee operating lease expiration period. Accrued Liabilities and Other Liabilities Accrued expenses and other current liabilities Total accrued expenses and other current liabilities Long term investments available for sale Debt Securities, Available-for-Sale, Noncurrent Entity Small Business Entity Small Business Entity Shell Company Entity Shell Company Debt instrument covenant debt default rate. Debt Instrument Covenant Debt Default Rate Debt default rate Purchase of investments Purchase of investments Payments to Acquire Investments Payments to Acquire Investments, Total NET LOSS PER SHARE Earnings Per Share [Text Block] Entity Address, Address Line One Entity Address, Address Line One Guarantee obligations Contractual Obligation Contractual Obligation, Total Antidilutive Securities [Axis] Antidilutive Securities Accrued expenses due Payable and accrued liabilities due to related party Other Liabilities, Current Supplemental Balance Sheet Disclosures [Text Block] BALANCE SHEET COMPONENTS Restricted cash deposits Restricted Cash Restricted Cash, Total Income Statement Location [Axis] Income Statement Location Long-Term Debt, Maturity, Year Three 2026 Net Income (Loss), Including Portion Attributable to Noncontrolling Interest Net loss Net loss Stock Options Authorized for Future Issuance Stock Options Authorized For Future Issuance [Member] Stock options authorized for future issuance. Fair Value, Inputs, Level 2 [Member] Level 2 Lease operating lease commencement period two. Lease Operating Lease Commencement Period Two Lease operating lease commencement period for second premises Long-Term Debt, Gross Outstanding debt Depreciation, Depletion and Amortization Depreciation and amortization Depreciation, Depletion and Amortization, Total Title of 12(b) Security Title of 12(b) Security Shares Issued, Value, Share-Based Payment Arrangement, after Forfeiture Issuance of common stock under equity incentive plans Shares Issued, Value, Share-based Payment Arrangement, after Forfeiture, Total Twenty thousand and twenty employee stock purchase plan. Twenty Thousand And Twenty Employee Stock Purchase Plan [Member] ESPP Lessee operating leases expiration year. Lessee Operating Leases Expiration Year Lessee operating lease expiration year Net Cash Provided by (Used in) Investing Activities [Abstract] Investing activities Long-Lived Tangible Asset [Domain] Long-Lived Tangible Asset Long-term Investments Long-term Investments [Member] Long-term investments. Purchase Obligation Future purchase obligations Manufacturing and service contracts, Total Debt Securities, Available-for-Sale, Fair Value, Maturity, Allocated and Single Maturity Date, after Year One Through Five Maturing after one year through five years Interest Expense, Debt, Total Interest Expense, Debt Interest expense Common Stock, Shares, Outstanding Common stock, shares outstanding Common Stock, Shares, Outstanding, Beginning Balance Common Stock, Shares, Outstanding, Ending Balance Share-Based Payment Arrangement [Text Block] STOCK-BASED COMPENSATION Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value Weighted-Average Grant Date Fair Value, Canceled/forfeited Long-term investment U.S. government agencies debt securities. Long Term Investment U S Government Agencies Debt Securities [Member] Long-term Investment U.S. Government Agency Securities Available borrowing capacity at lender's discretion Line Of Credit Facility Available Borrowing Capacity at Lender's Discretion Line of credit facility available borrowing capacity at lender's discretion. Income Statement Location [Domain] Income Statement Location Restricted cash (included in other assets) Restricted Cash and Cash Equivalents, Current Restricted Cash and Cash Equivalents, Current, Total Undesignated preferred stock. Undesignated Preferred Stock [Member] Undesignated Preferred Stock Document Type Document Type Net Cash Provided by (Used in) Investing Activities Net cash provided by (used in) investing activities Document Quarterly Report Document Quarterly Report Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period Number of RSUs, Canceled/forfeited Net cash provided by financing activities Net Cash Provided by (Used in) Financing Activities Short-term Investments Short-Term Investments [Member] Entity Filer Category Entity Filer Category Cash Flow, Noncash Investing and Financing Activities Disclosure [Abstract] Supplemental disclosure of non-cash investing and financing activities Impairment losses related to investments Other than Temporary Impairment Losses, Investments Other than Temporary Impairment Losses, Investments, Total Impairment losses on available-for-sale investments Balance Sheet Location [Domain] Balance Sheet Location Variable Rate [Axis] Initial term of agreement. Initial Term Of Agreement Initial term of agreement Short-term investments Short-Term Investments Short-term Investments, Total Liabilities Total liabilities Property, Plant and Equipment [Table] Schedule Of Property Plant And Equipment [Table] Equity, Attributable to Parent Balance Balance Total stockholders’ equity Net loss Net Income (Loss) Net loss Interest Expense, Total Interest Expense Interest expense Interest expense Commitments and Contingencies. Commitments And Contingencies [Table] Commitments And Contingencies [Table] Renewal periods of agreement. Renewal Periods Of Agreement Renewal periods of agreement Statement of Financial Position [Abstract] Shares Issued, Shares, Share-Based Payment Arrangement, after Forfeiture Issuance of common stock under equity incentive plans, shares Shares Issued, Shares, Share-based Payment Arrangement, after Forfeiture, Total Weighted Average Number of Shares Outstanding, Diluted, Total Weighted Average Number of Shares Outstanding, Diluted Weighted-average shares of common stock outstanding, diluted Weighted-average shares of common stock used to compute net loss per share, diluted Credit Facility [Axis] Prepaid contract manufacturing costs. Prepaid Contract Manufacturing Costs [Member] Long-term Prepaid Contract Manufacturing Costs Lessee, Operating Lease, Liability, to be Paid, Rolling Year Three 2026 Lease operating lease commencement period. Lease Operating Lease Commencement Period Lease operating lease commencement period Amortized Cost Debt Securities, Available-for-Sale, Amortized Cost Operating Lease, Weighted Average Remaining Lease Term Weighted average remaining lease term (in years) Use of Estimates, Policy [Policy Text Block] Use of Estimates Tranche A Tranche A [Member] Tranche A. Schedule of Earnings Per Share, Basic and Diluted [Table Text Block] Computation of Basic and Diluted Net Loss per Share Master service agreement. Master Service Agreement [Member] Master Service Agreement Leasehold Improvements [Member] Leasehold Improvements Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items] Fair Value Disclosures [Abstract] Fair Value Hierarchy and NAV [Axis] Fair Value Hierarchy and NAV Measurement Frequency [Domain] Measurement Frequency Payments to Acquire Property, Plant, and Equipment Purchase of property and equipment Payments to Acquire Property, Plant, and Equipment, Total Finance Lease, Interest Expense Finance lease cost, Interest Reclassification, Comparability Adjustment [Policy Text Block] Reclassifications Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period Number of RSUs, Vested Number of RSUs, Vested Office And Laboratory Space One. Office And Laboratory Space One [Member] Office and Laboratory Space Located In Palo Alto, California Employee-related Liabilities, Current Accrued compensation and related expenses Employee-related Liabilities, Current, Total Finite-Lived Intangible Assets by Major Class [Axis] Short-term investment corporate debt securities. Short-term Investment Corporate Debt Securities [Member] Short Term Investment Corporate Debt Securities