Stockholders' Equity (Deficit) - Assumption Used to Determine the Fair Value of Options Granted (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Weighted-average fair value per option (in dollars per share)	$ 1.13	$ 3.33	$ 6.67
Employee stock option
Share-based Compensation Arrangement by Share-based Payment Award
Expected volatility	83.20%	74.27%	95.84%
Expected term (in years)	5 years 8 months 12 days	6 years	6 years
Weighted-average risk-free interest rate	3.87%	1.91%	0.71%
Expected dividend yield	0.00%	0.00%	0.00%
Weighted-average fair value per option (in dollars per share)	$ 1.13	$ 3.33	$ 6.67